From 0155773aee703f432a547bbe66677ce3ba63117c Mon Sep 17 00:00:00 2001 From: curiep Date: Wed, 29 Apr 2026 10:49:26 -0700 Subject: [PATCH 01/65] cable insertion training --- .../contrib/deploy/mdp/__init__.pyi | 32 +- .../contrib/deploy/mdp/events.py | 187 ++++++++++ .../contrib/deploy/mdp/observations.py | 87 +++++ .../contrib/deploy/mdp/rewards.py | 133 +++++++ .../contrib/deploy/mdp/terminations.py | 183 +++++++++- .../deploy/cable_insertion/__init__.py | 6 + .../cable_insertion_env_cfg.py | 249 +++++++++++++ .../deploy/cable_insertion/config/__init__.py | 6 + .../config/rizon_4s/__init__.py | 42 +++ .../config/rizon_4s/agents/__init__.py | 6 + .../config/rizon_4s/agents/rsl_rl_ppo_cfg.py | 49 +++ .../config/rizon_4s/joint_pos_env_cfg.py | 330 ++++++++++++++++++ .../config/rizon_4s/ros_inference_env_cfg.py | 75 ++++ 13 files changed, 1381 insertions(+), 4 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi index 2a200c888bc0..35289bcc8f84 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi @@ -7,25 +7,44 @@ __all__ = [ "randomize_gear_type", "randomize_gears_and_base_pose", "set_robot_to_grasp_pose", + "set_robot_to_object_grasp_pose", "ResetSampledConstantNoiseModel", "ResetSampledConstantNoiseModelCfg", "gear_pos_w", "gear_quat_w", "gear_shaft_pos_w", "gear_shaft_quat_w", + "rigid_object_pos_w", + "rigid_object_quat_w", "keypoint_command_error", "keypoint_command_error_exp", "keypoint_entity_error", "keypoint_entity_error_exp", "keypoint_ee_grasp_error", "keypoint_ee_grasp_error_exp", + "keypoint_two_body_error", + "keypoint_two_body_error_exp", "reset_when_gear_dropped", "reset_when_gear_orientation_exceeds_threshold", + "reset_when_plug_dropped", + "reset_when_plug_orientation_exceeded", ] -from .events import randomize_gear_type, randomize_gears_and_base_pose, set_robot_to_grasp_pose +from .events import ( + randomize_gear_type, + randomize_gears_and_base_pose, + set_robot_to_grasp_pose, + set_robot_to_object_grasp_pose, +) from .noise_models import ResetSampledConstantNoiseModel, ResetSampledConstantNoiseModelCfg -from .observations import gear_pos_w, gear_quat_w, gear_shaft_pos_w, gear_shaft_quat_w +from .observations import ( + gear_pos_w, + gear_quat_w, + gear_shaft_pos_w, + gear_shaft_quat_w, + rigid_object_pos_w, + rigid_object_quat_w, +) from .rewards import ( keypoint_command_error, keypoint_command_error_exp, @@ -33,6 +52,13 @@ from .rewards import ( keypoint_entity_error_exp, keypoint_ee_grasp_error, keypoint_ee_grasp_error_exp, + keypoint_two_body_error, + keypoint_two_body_error_exp, +) +from .terminations import ( + reset_when_gear_dropped, + reset_when_gear_orientation_exceeds_threshold, + reset_when_plug_dropped, + reset_when_plug_orientation_exceeded, ) -from .terminations import reset_when_gear_dropped, reset_when_gear_orientation_exceeds_threshold from isaaclab.envs.mdp import * diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index 8dde6b5c5105..9aec5bb81886 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -503,3 +503,190 @@ def __call__( velocities = velocities_by_asset[asset_name] asset.write_root_pose_to_sim_index(root_pose=torch.cat([positions, orientations], dim=-1), env_ids=env_ids) asset.write_root_velocity_to_sim_index(root_velocity=velocities, env_ids=env_ids) + + +class set_robot_to_object_grasp_pose(ManagerTermBase): + """Set robot to a grasp pose over a single named target object using IK. + + Generic single-object counterpart of :class:`set_robot_to_grasp_pose` (which + is keyed on the gear-type manager). This term targets a single named + :class:`~isaaclab.assets.RigidObject` with a fixed grasp offset, suitable + for cable insertion and other single-object manipulation tasks. + + Args: + target_object_name: Name of the rigid object in the scene to grasp. + end_effector_body_name: Name of the end-effector body on the robot. + num_arm_joints: Number of arm joints (the remaining joints are + assumed to be gripper/finger joints). + grasp_offset: Position offset ``[x, y, z]`` [m] applied in the + (rotated) object frame to define the IK target. Defaults to zero. + grasp_rot_offset: Quaternion offset ``(x, y, z, w)`` applied to the + object orientation to define the IK target. + gripper_joint_setter_func: Callable used to set finger joint positions + for the configured grasp/close widths. + robot_asset_cfg: Robot asset configuration. Defaults to + ``SceneEntityCfg("robot")``. + pos_threshold: IK position-error tolerance [m]. + rot_threshold: IK rotation-error tolerance [rad]. + max_iterations: Maximum IK iterations per env reset. + pos_randomization_range: Optional dict with keys ``"x"``, ``"y"``, + ``"z"`` mapping to ``(low, high)`` tuples [m] for per-reset + randomization of the grasp offset. + """ + + def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + self.robot_asset_cfg: SceneEntityCfg = cfg.params.get("robot_asset_cfg", SceneEntityCfg("robot")) + self.robot_asset: Articulation = env.scene[self.robot_asset_cfg.name] + + for required in ( + "end_effector_body_name", + "num_arm_joints", + "grasp_rot_offset", + "gripper_joint_setter_func", + "target_object_name", + ): + if required not in cfg.params: + raise ValueError(f"'{required}' is required in set_robot_to_object_grasp_pose configuration.") + + self.end_effector_body_name: str = cfg.params["end_effector_body_name"] + self.num_arm_joints: int = cfg.params["num_arm_joints"] + self.gripper_joint_setter_func = cfg.params["gripper_joint_setter_func"] + self.target_object_name: str = cfg.params["target_object_name"] + + grasp_offset = cfg.params.get("grasp_offset", [0.0, 0.0, 0.0]) + self.grasp_offset_tensor = torch.tensor(grasp_offset, device=env.device, dtype=torch.float32) + + grasp_rot_offset = cfg.params["grasp_rot_offset"] + self.grasp_rot_offset_tensor = ( + torch.tensor(grasp_rot_offset, device=env.device, dtype=torch.float32).unsqueeze(0).repeat(env.num_envs, 1) + ) + + self.grasp_offsets_buffer = torch.zeros(env.num_envs, 3, device=env.device, dtype=torch.float32) + + self.hand_grasp_width = env.cfg.hand_grasp_width + self.hand_close_width = env.cfg.hand_close_width + + eef_indices, _ = self.robot_asset.find_bodies([self.end_effector_body_name]) + if len(eef_indices) == 0: + raise ValueError(f"End effector body '{self.end_effector_body_name}' not found in robot") + self.eef_idx = eef_indices[0] + self.jacobi_body_idx = self.eef_idx - 1 + + all_joints, _ = self.robot_asset.find_joints([".*"]) + self.all_joints = all_joints + self.finger_joints = all_joints[self.num_arm_joints :] + + def __call__( + self, + env: ManagerBasedEnv, + env_ids: torch.Tensor, + robot_asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"), + pos_threshold: float = 1e-6, + rot_threshold: float = 1e-6, + max_iterations: int = 50, + pos_randomization_range: dict | None = None, + target_object_name: str | None = None, + grasp_offset: list | None = None, + end_effector_body_name: str | None = None, + num_arm_joints: int | None = None, + grasp_rot_offset: list | None = None, + gripper_joint_setter_func: callable | None = None, + ): + num_reset_envs = len(env_ids) + grasp_offsets = self.grasp_offsets_buffer[:num_reset_envs] + grasp_rot_offset_tensor = self.grasp_rot_offset_tensor[env_ids] + + for _ in range(max_iterations): + joint_pos = wp.to_torch(self.robot_asset.data.joint_pos)[env_ids].clone() + joint_vel = wp.to_torch(self.robot_asset.data.joint_vel)[env_ids].clone() + + target_object: RigidObject = env.scene[self.target_object_name] + grasp_object_pos_world = wp.to_torch(target_object.data.root_link_pos_w)[env_ids] + grasp_object_quat = wp.to_torch(target_object.data.root_link_quat_w)[env_ids] + + grasp_object_quat = math_utils.quat_mul(grasp_object_quat, grasp_rot_offset_tensor) + + grasp_offsets[:] = self.grasp_offset_tensor + + if pos_randomization_range is not None: + pos_keys = ["x", "y", "z"] + range_list_pos = [pos_randomization_range.get(key, (0.0, 0.0)) for key in pos_keys] + ranges_pos = torch.tensor(range_list_pos, device=env.device) + rand_pos_offsets = math_utils.sample_uniform( + ranges_pos[:, 0], ranges_pos[:, 1], (len(env_ids), 3), device=env.device + ) + grasp_offsets = grasp_offsets + rand_pos_offsets + + grasp_object_pos_world = grasp_object_pos_world + math_utils.quat_apply(grasp_object_quat, grasp_offsets) + + eef_pos = wp.to_torch(self.robot_asset.data.body_pos_w)[env_ids, self.eef_idx] + eef_quat = wp.to_torch(self.robot_asset.data.body_quat_w)[env_ids, self.eef_idx] + + pos_error, axis_angle_error = fc.get_pose_error( + fingertip_midpoint_pos=eef_pos, + fingertip_midpoint_quat=eef_quat, + ctrl_target_fingertip_midpoint_pos=grasp_object_pos_world, + ctrl_target_fingertip_midpoint_quat=grasp_object_quat, + jacobian_type="geometric", + rot_error_type="axis_angle", + ) + delta_hand_pose = torch.cat((pos_error, axis_angle_error), dim=-1) + + pos_error_norm = torch.linalg.norm(pos_error, dim=-1) + rot_error_norm = torch.linalg.norm(axis_angle_error, dim=-1) + + if torch.all(pos_error_norm < pos_threshold) and torch.all(rot_error_norm < rot_threshold): + break + + jacobians = wp.to_torch(self.robot_asset.root_view.get_jacobians()).clone() + jacobian = jacobians[env_ids, self.jacobi_body_idx, :, :] + + delta_dof_pos = fc._get_delta_dof_pos( + delta_pose=delta_hand_pose, + ik_method="dls", + jacobian=jacobian, + device=env.device, + ) + + joint_pos = joint_pos + delta_dof_pos + + joint_pos_limits = wp.to_torch(self.robot_asset.data.joint_pos_limits)[env_ids, : self.num_arm_joints, :] + joint_min = joint_pos_limits[:, :, 0] + joint_max = joint_pos_limits[:, :, 1] + joint_range = joint_max - joint_min + + arm_joint_pos = joint_pos[:, : self.num_arm_joints] + arm_joint_pos = torch.where( + joint_range > 0, + joint_min + torch.remainder(arm_joint_pos - joint_min, joint_range), + arm_joint_pos, + ) + joint_pos[:, : self.num_arm_joints] = arm_joint_pos + + joint_vel = torch.zeros_like(joint_pos) + + self.robot_asset.set_joint_position_target_index(target=joint_pos, env_ids=env_ids) + self.robot_asset.set_joint_velocity_target_index(target=joint_vel, env_ids=env_ids) + self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) + self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) + + joint_vel = torch.zeros_like(wp.to_torch(self.robot_asset.data.joint_vel)[env_ids]) + joint_pos = wp.to_torch(self.robot_asset.data.joint_pos)[env_ids].clone() + + self.gripper_joint_setter_func( + joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_grasp_width + ) + + self.robot_asset.set_joint_position_target_index(target=joint_pos, joint_ids=self.all_joints, env_ids=env_ids) + self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) + self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) + + self.gripper_joint_setter_func( + joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_close_width + ) + + self.robot_asset.set_joint_position_target_index(target=joint_pos, joint_ids=self.all_joints, env_ids=env_ids) + self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) + self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py index ac12d8b22f7f..0cb6fcfe9e01 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py @@ -338,3 +338,90 @@ def __call__(self, env: ManagerBasedRLEnv) -> torch.Tensor: gear_positive_quat[w_negative] = -gear_quat[w_negative] return gear_positive_quat + + +class rigid_object_pos_w(ManagerTermBase): + """Rigid object position in the environment frame, with optional local-frame offset. + + Generic observation term that returns the position of any + :class:`~isaaclab.assets.RigidObject` in the environment frame. An optional + 3D offset can be applied in the object's local frame before subtracting the + environment origin. + + Args: + asset_cfg: The asset configuration. Required. + offset: A 3D offset ``[x, y, z]`` [m] applied in the object's local frame. + Defaults to ``[0, 0, 0]``. + + Returns: + Object position tensor in the environment frame, shape ``[num_envs, 3]`` [m]. + """ + + def __init__(self, cfg: ObservationTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + + if "asset_cfg" not in cfg.params: + raise ValueError("'asset_cfg' parameter is required in rigid_object_pos_w configuration.") + self.asset_cfg: SceneEntityCfg = cfg.params["asset_cfg"] + self.asset: RigidObject = env.scene[self.asset_cfg.name] + + offset = cfg.params.get("offset", [0.0, 0.0, 0.0]) + self.offset_tensor = torch.tensor(offset, device=env.device, dtype=torch.float32) + + self.identity_quat = ( + torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=env.device, dtype=torch.float32) + .repeat(env.num_envs, 1) + .contiguous() + ) + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg: SceneEntityCfg | None = None, + offset: list | None = None, + ) -> torch.Tensor: + obj_pos = wp.to_torch(self.asset.data.root_pos_w) + obj_quat = wp.to_torch(self.asset.data.root_quat_w) + + if torch.any(self.offset_tensor != 0): + offset_repeated = self.offset_tensor.unsqueeze(0).repeat(env.num_envs, 1) + obj_pos, _ = combine_frame_transforms(obj_pos, obj_quat, offset_repeated, self.identity_quat) + + return obj_pos - env.scene.env_origins + + +class rigid_object_quat_w(ManagerTermBase): + """Rigid object orientation in the world frame. + + Generic observation term that returns the orientation of any + :class:`~isaaclab.assets.RigidObject`. The quaternion is canonicalized so + that the ``w`` component is positive, reducing observation variation seen + by the policy. + + Args: + asset_cfg: The asset configuration. Required. + + Returns: + Object orientation as a quaternion ``(x, y, z, w)``, shape ``[num_envs, 4]``. + """ + + def __init__(self, cfg: ObservationTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + + if "asset_cfg" not in cfg.params: + raise ValueError("'asset_cfg' parameter is required in rigid_object_quat_w configuration.") + self.asset_cfg: SceneEntityCfg = cfg.params["asset_cfg"] + self.asset: RigidObject = env.scene[self.asset_cfg.name] + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg: SceneEntityCfg | None = None, + ) -> torch.Tensor: + obj_quat = wp.to_torch(self.asset.data.root_quat_w) + + w_negative = obj_quat[:, 3] < 0 + positive_quat = obj_quat.clone() + positive_quat[w_negative] = -obj_quat[w_negative] + + return positive_quat diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py index c776168e5b48..6f2dec6f89c4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py @@ -568,6 +568,139 @@ def __call__( return scaled_reward +class keypoint_two_body_error(ManagerTermBase): + """Compute keypoint distance between two explicit :class:`~isaaclab.assets.RigidObject` assets. + + Unlike :class:`keypoint_entity_error` which relies on the gear-type manager + to select the active gear, this term takes two explicit asset configs and + always computes the keypoint distance between them. Suitable for cable + insertion and other two-body alignment tasks. + + Args: + asset_cfg_1: First rigid object asset config. + asset_cfg_2: Second rigid object asset config. + keypoint_scale: Scaling factor [m] for the keypoint cube size used for + distance computation. + add_cube_center_kp: Whether to include the cube center keypoint. + """ + + def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + + if "asset_cfg_1" not in cfg.params or "asset_cfg_2" not in cfg.params: + raise ValueError( + "'asset_cfg_1' and 'asset_cfg_2' parameters are required in keypoint_two_body_error configuration." + ) + + self.asset_cfg_1: SceneEntityCfg = cfg.params["asset_cfg_1"] + self.asset_1 = env.scene[self.asset_cfg_1.name] + + self.asset_cfg_2: SceneEntityCfg = cfg.params["asset_cfg_2"] + self.asset_2 = env.scene[self.asset_cfg_2.name] + + self.keypoint_computer = _compute_keypoint_distance(cfg, env) + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg_1: SceneEntityCfg | None = None, + asset_cfg_2: SceneEntityCfg | None = None, + keypoint_scale: float = 1.0, + add_cube_center_kp: bool = True, + ) -> torch.Tensor: + curr_pos_1 = wp.to_torch(self.asset_1.data.body_pos_w)[:, 0] + curr_quat_1 = wp.to_torch(self.asset_1.data.body_quat_w)[:, 0] + + curr_pos_2 = wp.to_torch(self.asset_2.data.body_pos_w)[:, 0] + curr_quat_2 = wp.to_torch(self.asset_2.data.body_quat_w)[:, 0] + + keypoint_dist_sep = self.keypoint_computer.compute( + current_pos=curr_pos_1, + current_quat=curr_quat_1, + target_pos=curr_pos_2, + target_quat=curr_quat_2, + keypoint_scale=keypoint_scale, + ) + + return keypoint_dist_sep.mean(-1) + + +class keypoint_two_body_error_exp(ManagerTermBase): + """Exponential keypoint reward between two explicit :class:`~isaaclab.assets.RigidObject` assets. + + Exponential version of :class:`keypoint_two_body_error`. The reward peaks + near 1.0 when the two bodies are aligned and drops sharply as they diverge. + + Args: + asset_cfg_1: First rigid object asset config. + asset_cfg_2: Second rigid object asset config. + kp_exp_coeffs: List of ``(a, b)`` coefficients for the + ``1 / (exp(a*d) + b + exp(-a*d))`` shaping terms that are summed + (or averaged) into the final reward. + kp_use_sum_of_exps: If ``True`` (default), apply the exponential + shaping per keypoint and average; otherwise apply once on the + mean keypoint distance. + keypoint_scale: Scaling factor [m] for the keypoint cube size. + add_cube_center_kp: Whether to include the cube center keypoint. + """ + + def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + + if "asset_cfg_1" not in cfg.params or "asset_cfg_2" not in cfg.params: + raise ValueError( + "'asset_cfg_1' and 'asset_cfg_2' parameters are required in keypoint_two_body_error_exp configuration." + ) + + self.asset_cfg_1: SceneEntityCfg = cfg.params["asset_cfg_1"] + self.asset_1 = env.scene[self.asset_cfg_1.name] + + self.asset_cfg_2: SceneEntityCfg = cfg.params["asset_cfg_2"] + self.asset_2 = env.scene[self.asset_cfg_2.name] + + self.keypoint_computer = _compute_keypoint_distance(cfg, env) + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg_1: SceneEntityCfg | None = None, + asset_cfg_2: SceneEntityCfg | None = None, + kp_exp_coeffs: list[tuple[float, float]] = [(1.0, 0.1)], + kp_use_sum_of_exps: bool = True, + keypoint_scale: float = 1.0, + add_cube_center_kp: bool = True, + ) -> torch.Tensor: + curr_pos_1 = wp.to_torch(self.asset_1.data.body_pos_w)[:, 0] + curr_quat_1 = wp.to_torch(self.asset_1.data.body_quat_w)[:, 0] + + curr_pos_2 = wp.to_torch(self.asset_2.data.body_pos_w)[:, 0] + curr_quat_2 = wp.to_torch(self.asset_2.data.body_quat_w)[:, 0] + + keypoint_dist_sep = self.keypoint_computer.compute( + current_pos=curr_pos_1, + current_quat=curr_quat_1, + target_pos=curr_pos_2, + target_quat=curr_quat_2, + keypoint_scale=keypoint_scale, + ) + + keypoint_reward_exp = torch.zeros_like(keypoint_dist_sep[:, 0]) + + if kp_use_sum_of_exps: + for coeff in kp_exp_coeffs: + a, b = coeff + keypoint_reward_exp += ( + 1.0 / (torch.exp(a * keypoint_dist_sep) + b + torch.exp(-a * keypoint_dist_sep)) + ).mean(-1) + else: + keypoint_dist = keypoint_dist_sep.mean(-1) + for coeff in kp_exp_coeffs: + a, b = coeff + keypoint_reward_exp += 1.0 / (torch.exp(a * keypoint_dist) + b + torch.exp(-a * keypoint_dist)) + + return keypoint_reward_exp + + ## # Helper functions and classes ## diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py index 9f217c316372..4a6a62901735 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py @@ -18,7 +18,7 @@ logger = logging.getLogger(__name__) if TYPE_CHECKING: - from isaaclab.assets import Articulation + from isaaclab.assets import Articulation, RigidObject from isaaclab.envs import ManagerBasedEnv from .events import randomize_gear_type @@ -330,3 +330,184 @@ def __call__( ) return self.reset_flags + + +class reset_when_plug_dropped(ManagerTermBase): + """Check if a held plug/connector has fallen out of the gripper. + + Generic single-object counterpart of :class:`reset_when_gear_dropped`. + Computes the distance between the end effector and the plug's expected + grasp position (derived from the plug's pose and the grasp offset). + If the distance exceeds ``distance_threshold``, the environment is reset. + + Args: + robot_asset_cfg: Robot asset configuration. Defaults to + ``SceneEntityCfg("robot")``. + plug_asset_cfg: Plug rigid-object asset configuration. + distance_threshold: Distance [m] above which the plug is considered + dropped. + end_effector_body_name: End-effector body name on the robot. + grasp_offset: Position offset ``[x, y, z]`` [m] from the plug origin + to the expected grasp point in the (rotated) plug frame. + grasp_rot_offset: Quaternion offset ``(x, y, z, w)`` applied to the + plug orientation to define the grasp frame. + """ + + def __init__(self, cfg: TerminationTermCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + self.robot_asset_cfg: SceneEntityCfg = cfg.params.get("robot_asset_cfg", SceneEntityCfg("robot")) + self.robot_asset: Articulation = env.scene[self.robot_asset_cfg.name] + + if "plug_asset_cfg" not in cfg.params: + raise ValueError("'plug_asset_cfg' is required in reset_when_plug_dropped configuration.") + self.plug_asset_cfg: SceneEntityCfg = cfg.params["plug_asset_cfg"] + self.plug_asset: RigidObject = env.scene[self.plug_asset_cfg.name] + + for required in ("end_effector_body_name", "grasp_rot_offset", "grasp_offset"): + if required not in cfg.params: + raise ValueError(f"'{required}' is required in reset_when_plug_dropped configuration.") + + self.end_effector_body_name: str = cfg.params["end_effector_body_name"] + + grasp_offset = cfg.params["grasp_offset"] + self.grasp_offset_tensor = torch.tensor(grasp_offset, device=env.device, dtype=torch.float32) + + grasp_rot_offset = cfg.params["grasp_rot_offset"] + self.grasp_rot_offset_tensor = ( + torch.tensor(grasp_rot_offset, device=env.device, dtype=torch.float32).unsqueeze(0).repeat(env.num_envs, 1) + ) + + self.reset_flags = torch.zeros(env.num_envs, dtype=torch.bool, device=env.device) + + eef_indices, _ = self.robot_asset.find_bodies([self.end_effector_body_name]) + if len(eef_indices) == 0: + logger.warning( + f"{self.end_effector_body_name} not found in robot body names. Cannot check plug drop condition." + ) + self.eef_idx = None + else: + self.eef_idx = eef_indices[0] + + def __call__( + self, + env: ManagerBasedEnv, + distance_threshold: float = 0.1, + robot_asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"), + plug_asset_cfg: SceneEntityCfg | None = None, + grasp_offset: list | None = None, + end_effector_body_name: str | None = None, + grasp_rot_offset: list | None = None, + ) -> torch.Tensor: + self.reset_flags.fill_(False) + + if self.eef_idx is None: + return self.reset_flags + + eef_pos_world = wp.to_torch(self.robot_asset.data.body_link_pos_w)[:, self.eef_idx] + + plug_pos_world = wp.to_torch(self.plug_asset.data.root_link_pos_w) + plug_quat_world = wp.to_torch(self.plug_asset.data.root_link_quat_w) + + plug_quat_world = math_utils.quat_mul(plug_quat_world, self.grasp_rot_offset_tensor) + + grasp_offset_batch = self.grasp_offset_tensor.unsqueeze(0).expand(plug_pos_world.shape[0], -1) + plug_grasp_pos_world = plug_pos_world + math_utils.quat_apply(plug_quat_world, grasp_offset_batch) + + distances = torch.linalg.norm(plug_grasp_pos_world - eef_pos_world, dim=-1) + self.reset_flags[:] = distances > distance_threshold + + return self.reset_flags + + +class reset_when_plug_orientation_exceeded(ManagerTermBase): + """Check if a held plug/connector has rotated too much relative to the end effector. + + Generic single-object counterpart of + :class:`reset_when_gear_orientation_exceeds_threshold`. Computes the + relative orientation between the plug (with grasp rotation offset + applied) and the end effector. If the roll, pitch, or yaw angles exceed + the configured thresholds, the environment is reset. + + Args: + robot_asset_cfg: Robot asset configuration. Defaults to + ``SceneEntityCfg("robot")``. + plug_asset_cfg: Plug rigid-object asset configuration. + roll_threshold_deg: Roll threshold [deg]. + pitch_threshold_deg: Pitch threshold [deg]. + yaw_threshold_deg: Yaw threshold [deg]. + end_effector_body_name: End-effector body name on the robot. + grasp_rot_offset: Quaternion offset ``(x, y, z, w)`` applied to the + plug orientation to define the grasp frame. + """ + + def __init__(self, cfg: TerminationTermCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + self.robot_asset_cfg: SceneEntityCfg = cfg.params.get("robot_asset_cfg", SceneEntityCfg("robot")) + self.robot_asset: Articulation = env.scene[self.robot_asset_cfg.name] + + if "plug_asset_cfg" not in cfg.params: + raise ValueError("'plug_asset_cfg' is required in reset_when_plug_orientation_exceeded configuration.") + self.plug_asset_cfg: SceneEntityCfg = cfg.params["plug_asset_cfg"] + self.plug_asset: RigidObject = env.scene[self.plug_asset_cfg.name] + + for required in ("end_effector_body_name", "grasp_rot_offset"): + if required not in cfg.params: + raise ValueError(f"'{required}' is required in reset_when_plug_orientation_exceeded configuration.") + + self.end_effector_body_name: str = cfg.params["end_effector_body_name"] + + grasp_rot_offset = cfg.params["grasp_rot_offset"] + self.grasp_rot_offset_tensor = ( + torch.tensor(grasp_rot_offset, device=env.device, dtype=torch.float32).unsqueeze(0).repeat(env.num_envs, 1) + ) + + self.reset_flags = torch.zeros(env.num_envs, dtype=torch.bool, device=env.device) + + eef_indices, _ = self.robot_asset.find_bodies([self.end_effector_body_name]) + if len(eef_indices) == 0: + logger.warning( + f"{self.end_effector_body_name} not found in robot. Cannot check plug orientation condition." + ) + self.eef_idx = None + else: + self.eef_idx = eef_indices[0] + + def __call__( + self, + env: ManagerBasedEnv, + roll_threshold_deg: float = 30.0, + pitch_threshold_deg: float = 30.0, + yaw_threshold_deg: float = 180.0, + robot_asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"), + plug_asset_cfg: SceneEntityCfg | None = None, + end_effector_body_name: str | None = None, + grasp_rot_offset: list | None = None, + ) -> torch.Tensor: + self.reset_flags.fill_(False) + + if self.eef_idx is None: + return self.reset_flags + + roll_threshold_rad = torch.deg2rad(torch.tensor(roll_threshold_deg, device=env.device)) + pitch_threshold_rad = torch.deg2rad(torch.tensor(pitch_threshold_deg, device=env.device)) + yaw_threshold_rad = torch.deg2rad(torch.tensor(yaw_threshold_deg, device=env.device)) + + eef_quat_world = wp.to_torch(self.robot_asset.data.body_link_quat_w)[:, self.eef_idx] + + plug_quat_world = wp.to_torch(self.plug_asset.data.root_link_quat_w) + plug_quat_world = math_utils.quat_mul(plug_quat_world, self.grasp_rot_offset_tensor) + + eef_quat_inv = math_utils.quat_conjugate(eef_quat_world) + relative_quat = math_utils.quat_mul(plug_quat_world, eef_quat_inv) + + roll, pitch, yaw = math_utils.euler_xyz_from_quat(relative_quat) + + self.reset_flags[:] = ( + (torch.abs(roll) > roll_threshold_rad) + | (torch.abs(pitch) > pitch_threshold_rad) + | (torch.abs(yaw) > yaw_threshold_rad) + ) + + return self.reset_flags diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/__init__.py new file mode 100644 index 000000000000..eb06ed96f17d --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Insert GB300 plug into socket.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py new file mode 100644 index 000000000000..32eee3e1c797 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py @@ -0,0 +1,249 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import os +from dataclasses import MISSING + +from isaaclab_physx.physics import PhysxCfg + +import isaaclab.sim as sim_utils +from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from isaaclab.envs import ManagerBasedRLEnvCfg +from isaaclab.managers import ActionTermCfg as ActionTerm +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import ObservationGroupCfg as ObsGroup +from isaaclab.managers import ObservationTermCfg as ObsTerm +from isaaclab.managers import RewardTermCfg as RewTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.scene import InteractiveSceneCfg +from isaaclab.sim.simulation_cfg import SimulationCfg +from isaaclab.utils import configclass +from isaaclab.utils.noise import UniformNoiseCfg + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +from isaaclab_tasks.manager_based.manipulation.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg + +CONFIG_DIR = os.path.dirname(os.path.abspath(__file__)) +ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets") + +## +# Asset Configurations +## + + +@configclass +class GB300Plug(RigidObjectCfg): + """Configuration for GB300 Plug (held asset).""" + + prim_path = "{ENV_REGEX_NS}/GB300Plug" + spawn = sim_utils.UsdFileCfg( + usd_path=os.path.join(ASSETS_DIR, "plug_A_no_snapfit_latch_transformed.usd"), + activate_contact_sensors=False, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + # NOTE: gravity disabled while bringing up the task. With gravity on, + # any tiny gap between the gripper fingers and the plug at reset + # time causes the plug to slip and fall before the policy can + # stabilize the grasp. Re-enable once the grasp wiring is verified. + disable_gravity=True, + kinematic_enabled=False, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + mass_props=sim_utils.MassPropertiesCfg(mass=0.019), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), + ) + init_state = RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.1), rot=(0.0, 0.0, 0.0, 1.0)) + + +@configclass +class GB300Socket(RigidObjectCfg): + """Configuration for GB300 Socket (fixed asset).""" + + prim_path = "{ENV_REGEX_NS}/GB300Socket" + spawn = sim_utils.UsdFileCfg( + usd_path=os.path.join(ASSETS_DIR, "socket_A_simplified_minimal_transformed.usd"), + activate_contact_sensors=False, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + kinematic_enabled=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + mass_props=sim_utils.MassPropertiesCfg(mass=None), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), + ) + init_state = RigidObjectCfg.InitialStateCfg(pos=(0.45, 0.0, 0.1), rot=(0.0, 0.0, 0.0, 1.0)) + + +## +# Environment configuration +## + + +@configclass +class CableInsertionSceneCfg(InteractiveSceneCfg): + """Configuration for the cable insertion scene.""" + + replicate_physics = False + + ground = AssetBaseCfg( + prim_path="/World/ground", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), + ) + + gb300_plug = GB300Plug() + gb300_socket = GB300Socket() + + robot: ArticulationCfg = MISSING + + light = AssetBaseCfg( + prim_path="/World/light", + spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2500.0), + ) + + +@configclass +class ActionsCfg: + """Action specifications for the MDP.""" + + arm_action: ActionTerm = MISSING + gripper_action: ActionTerm | None = None + + +@configclass +class ObservationsCfg: + """Observation specifications for the MDP.""" + + @configclass + class PolicyCfg(ObsGroup): + """Observations for policy group.""" + + joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + socket_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": [0.0, 0.0, 0.0]}, + noise=ResetSampledConstantNoiseModelCfg( + noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") + ), + ) + socket_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket")}, + ) + + def __post_init__(self): + self.enable_corruption = True + self.concatenate_terms = True + + @configclass + class CriticCfg(ObsGroup): + """Observations for critic group.""" + + joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + socket_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": [0.0, 0.0, 0.0]}, + ) + socket_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket")}, + ) + plug_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("gb300_plug")}, + ) + plug_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("gb300_plug")}, + ) + + policy: PolicyCfg = PolicyCfg() + critic: CriticCfg = CriticCfg() + + +@configclass +class EventCfg: + """Configuration for events.""" + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + +@configclass +class RewardsCfg: + """Reward terms for the MDP.""" + + plug_socket_keypoint_tracking = RewTerm( + func=mdp.keypoint_two_body_error, + weight=-1.5, + params={ + "asset_cfg_1": SceneEntityCfg("gb300_socket"), + "asset_cfg_2": SceneEntityCfg("gb300_plug"), + "keypoint_scale": 0.15, + }, + ) + + plug_socket_keypoint_tracking_exp = RewTerm( + func=mdp.keypoint_two_body_error_exp, + weight=3.0, + params={ + "asset_cfg_1": SceneEntityCfg("gb300_socket"), + "asset_cfg_2": SceneEntityCfg("gb300_plug"), + "kp_exp_coeffs": [(10, 0.0001), (50, 0.0001), (150, 0.0001), (300, 0.0001)], + "kp_use_sum_of_exps": False, + "keypoint_scale": 0.15, + }, + ) + + action_rate = RewTerm(func=mdp.action_rate_l2, weight=-5.0e-06) + + +@configclass +class TerminationsCfg: + """Termination terms for the MDP.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + +@configclass +class CableInsertionEnvCfg(ManagerBasedRLEnvCfg): + scene: CableInsertionSceneCfg = CableInsertionSceneCfg(num_envs=4096, env_spacing=2.5) + observations: ObservationsCfg = ObservationsCfg() + actions: ActionsCfg = ActionsCfg() + rewards: RewardsCfg = RewardsCfg() + terminations: TerminationsCfg = TerminationsCfg() + events: EventCfg = EventCfg() + sim: SimulationCfg = SimulationCfg( + physics=PhysxCfg( + gpu_collision_stack_size=2**30, + gpu_max_rigid_contact_count=2**23, + gpu_max_rigid_patch_count=2**23, + ), + ) + + def __post_init__(self): + """Post initialization.""" + self.episode_length_s = 6.66 + self.viewer.eye = (3.5, 3.5, 3.5) + self.decimation = 33 + self.sim.render_interval = self.decimation + self.sim.dt = 1.0 / 1000.0 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/__init__.py new file mode 100644 index 000000000000..1332dd34866f --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Configurations for arm-based cable insertion environments.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py new file mode 100644 index 000000000000..7da920402b59 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py @@ -0,0 +1,42 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import gymnasium as gym + +from . import agents + +## +# Register Gym environments. +## + +gym.register( + id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravCableInsertionEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravCableInsertionEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-ROS-Inference-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:Rizon4sGravCableInsertionROSInferenceEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/__init__.py new file mode 100644 index 000000000000..ae37de6e63d1 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Package containing agent configurations for RL with Rizon 4s for cable insertion.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py new file mode 100644 index 000000000000..9a013ac1fedd --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py @@ -0,0 +1,49 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from isaaclab.utils import configclass + +from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg + + +@configclass +class Rizon4sGravCableInsertionRNNPPORunnerCfg(RslRlOnPolicyRunnerCfg): + num_steps_per_env = 512 + max_iterations = 1500 + save_interval = 50 + experiment_name = "cable_insertion_rizon4s" + clip_actions = 1.0 + resume = False + obs_groups = { + "policy": ["policy"], + "critic": ["critic"], + } + policy = RslRlPpoActorCriticRecurrentCfg( + state_dependent_std=True, + init_noise_std=1.0, + actor_obs_normalization=True, + critic_obs_normalization=True, + actor_hidden_dims=[256, 128, 64], + critic_hidden_dims=[256, 128, 64], + noise_std_type="log", + activation="elu", + rnn_type="lstm", + rnn_hidden_dim=256, + rnn_num_layers=2, + ) + algorithm = RslRlPpoAlgorithmCfg( + value_loss_coef=1.0, + use_clipped_value_loss=True, + clip_param=0.2, + entropy_coef=0.0, + num_learning_epochs=8, + num_mini_batches=16, + learning_rate=5.0e-4, + schedule="adaptive", + gamma=0.99, + lam=0.95, + desired_kl=0.008, + max_grad_norm=1.0, + ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py new file mode 100644 index 000000000000..9c719e2c28f0 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py @@ -0,0 +1,330 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import torch + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ImplicitActuatorCfg +from isaaclab.assets import ArticulationCfg, RigidObjectCfg +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.utils import configclass + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( + CableInsertionEnvCfg, +) + +## +# Pre-defined configs +## +from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip + + +## +# Gripper-specific helper functions +## + + +def set_finger_joint_pos_grav( + joint_pos: torch.Tensor, + reset_ind_joint_pos: list[int], + finger_joints: list[int], + finger_joint_position: float, +): + """Set finger joint positions for the Grav gripper. + + Args: + joint_pos: Joint positions tensor for the reset envs slice. + reset_ind_joint_pos: Row indices into the sliced ``joint_pos`` tensor. + finger_joints: List of all gripper joint indices (6 joints total). + finger_joint_position: Target position for the main finger joint [rad]. + + Note: + Grav gripper joint structure (indices from ``finger_joints`` list): + ``[0]`` ``finger_joint`` - main controllable joint + ``[1]`` ``left_inner_knuckle_joint`` - mimic with -1 gearing + ``[2]`` ``right_inner_knuckle_joint`` - mimic with -1 gearing + ``[3]`` ``right_outer_knuckle_joint`` - mimic with -1 gearing + ``[4]`` ``left_outer_finger_joint`` - mimic with +1 gearing + ``[5]`` ``right_outer_finger_joint`` - mimic with +1 gearing + """ + for idx in reset_ind_joint_pos: + if len(finger_joints) < 6: + raise ValueError(f"Grav gripper requires at least 6 finger joints, got {len(finger_joints)}") + + joint_pos[idx, finger_joints[0]] = finger_joint_position + + joint_pos[idx, finger_joints[1]] = finger_joint_position + joint_pos[idx, finger_joints[2]] = finger_joint_position + joint_pos[idx, finger_joints[3]] = finger_joint_position + + joint_pos[idx, finger_joints[4]] = -finger_joint_position + joint_pos[idx, finger_joints[5]] = -finger_joint_position + + +## +# Environment configuration +## + + +@configclass +class EventCfg: + """Configuration for events.""" + + plug_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("gb300_plug", body_names=".*"), + "static_friction_range": (0.75, 0.75), + "dynamic_friction_range": (0.75, 0.75), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + socket_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("gb300_socket", body_names=".*"), + "static_friction_range": (0.0, 0.0), + "dynamic_friction_range": (0.0, 0.0), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + robot_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), + "static_friction_range": (3.0, 3.0), + "dynamic_friction_range": (3.0, 3.0), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + randomize_socket_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [0.0, 0.0], + "y": [0.0, 0.0], + "z": [0.0, 0.0], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], + }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("gb300_socket"), + }, + ) + + set_robot_to_grasp_pose = EventTerm( + func=mdp.set_robot_to_object_grasp_pose, + mode="reset", + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, + "target_object_name": "gb300_plug", + "grasp_offset": [0.0, 0.0, 0.0], + }, + ) + + +@configclass +class TerminationsCfg: + """Configuration for termination terms.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + plug_dropped = DoneTerm( + func=cable_terminations.reset_when_plug_dropped, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("gb300_plug"), + "distance_threshold": 0.15, + "end_effector_body_name": "link7", + "grasp_offset": [0.0, 0.0, -0.35], + "grasp_rot_offset": [-0.70711, 0.70711, 0.0, 0.0], + }, + ) + + plug_orientation_exceeded = DoneTerm( + func=cable_terminations.reset_when_plug_orientation_exceeded, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("gb300_plug"), + "roll_threshold_deg": 15.0, + "pitch_threshold_deg": 15.0, + "yaw_threshold_deg": 180.0, + "end_effector_body_name": "link7", + "grasp_rot_offset": [-0.70711, 0.70711, 0.0, 0.0], + }, + ) + + +@configclass +class Rizon4sGravCableInsertionEnvCfg(CableInsertionEnvCfg): + """Configuration for Flexiv Rizon 4s with Grav Gripper Cable Insertion Environment.""" + + def __post_init__(self): + super().__post_init__() + + self.end_effector_body_name = "link7" + self.num_arm_joints = 7 + self.grasp_offset = [0.0, 0.0, -0.35] + self.grasp_rot_offset = [-0.70711, 0.70711, 0.0, 0.0] + self.gripper_joint_setter_func = set_finger_joint_pos_grav + + self.plug_orientation_roll_threshold_deg = 15.0 + self.plug_orientation_pitch_threshold_deg = 15.0 + self.plug_orientation_yaw_threshold_deg = 180.0 + + # Observation configuration for Rizon 4s arm joints only + self.observations.policy.joint_pos.params["asset_cfg"].joint_names = [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + ] + self.observations.policy.joint_vel.params["asset_cfg"].joint_names = [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + ] + + self.events = EventCfg() + + self.terminations = TerminationsCfg() + + self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( + self.plug_orientation_roll_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( + self.plug_orientation_pitch_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( + self.plug_orientation_yaw_threshold_deg + ) + + self.joint_action_scale = 0.025 + self.actions.arm_action = mdp.RelativeJointPositionActionCfg( + asset_name="robot", + joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"], + scale=self.joint_action_scale, + use_zero_offset=True, + ) + + self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + ), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), + ), + init_state=ArticulationCfg.InitialStateCfg( + joint_pos={ + "joint1": 0.0, + "joint2": -0.698, + "joint3": 0.0, + "joint4": 1.571, + "joint5": 0.0, + "joint6": 0.698, + "joint7": 0.0, + }, + pos=(0.0, 0.0, 0.0), + rot=(0.0, 0.0, 0.0, 1.0), + ), + ) + + # Grav gripper actuator configuration (implicit - PhysX built-in joint drives) + self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( + joint_names_expr=["finger_joint"], + effort_limit_sim=1.0, + velocity_limit_sim=1.0, + stiffness=2e3, + damping=1e1, + ) + + self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( + joint_names_expr=[".*_knuckle_joint"], + effort_limit_sim=1.0, + velocity_limit_sim=1.0, + stiffness=0.0, + damping=0.0, + ) + + # Override plug/socket positions to match the gear assembly Flexiv workspace layout. + # Socket = gear_base (fixed target), Plug = gear (held object, offset above socket). + self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=(0.481, -0.073, 0.071), + rot=(0.0, 0.0, 0.70711, -0.70711), + ) + self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=(0.481, -0.073, 0.139), + rot=(0.0, 0.0, 0.70711, -0.70711), + ) + + # Grasp widths for the Grav gripper holding the plug. Positive values open + # the gripper; ``hand_grasp_width`` creates a gap for the plug, while + # ``hand_close_width`` squeezes the fingers shut to hold it. + self.hand_grasp_width = 0.05 + self.hand_close_width = 0.0 + + self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name + self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints + self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset + self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset + self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func + + self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset + self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset + + self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset + + +@configclass +class Rizon4sGravCableInsertionEnvCfg_PLAY(Rizon4sGravCableInsertionEnvCfg): + """Play configuration for Flexiv Rizon 4s cable insertion.""" + + def __post_init__(self): + super().__post_init__() + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py new file mode 100644 index 000000000000..c0c82d492d12 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py @@ -0,0 +1,75 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import math + +from isaaclab.assets import RigidObjectCfg +from isaaclab.utils import configclass + +from .joint_pos_env_cfg import Rizon4sGravCableInsertionEnvCfg + + +@configclass +class Rizon4sGravCableInsertionROSInferenceEnvCfg(Rizon4sGravCableInsertionEnvCfg): + """Configuration for ROS inference with Flexiv Rizon 4s for cable insertion. + + This configuration: + + - Exposes variables needed for Isaac Manipulator ROS inference. + - Overrides plug and socket initial poses for a fixed/deterministic setup. + """ + + def __post_init__(self): + super().__post_init__() + + # Variables used by Isaac Manipulator for on-robot inference + self.obs_order = ["arm_dof_pos", "arm_dof_vel", "socket_pos", "socket_quat"] + self.policy_action_space = "joint" + self.arm_joint_names = self.observations.policy.joint_pos.params["asset_cfg"].joint_names + self.action_space = self.num_arm_joints + # State: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat + 3 plug pos + 4 plug quat = 28 + self.state_space = 28 + # Observation: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat = 21 + self.observation_space = 21 + + self.joint_action_scale = self.actions.arm_action.scale + self.action_scale_joint_space = [self.joint_action_scale] * self.action_space + + # Override robot initial rotation for deterministic setup + self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) + + # Override plug and socket initial poses for ROS inference (fixed, deterministic) + self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=(-0.6, -0.4, 0.1), + rot=(0.0, 0.0, 0.0, 1.0), + ) + + self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=(-0.6, -0.4, 0.1), + rot=(0.0, 0.0, 0.0, 1.0), + ) + + # Fixed asset parameters for ROS inference - derived from configuration + self.fixed_asset_init_pos_center = list(self.scene.gb300_socket.init_state.pos) + + pose_range = self.events.randomize_socket_pose.params["pose_range"] + self.fixed_asset_init_pos_range = [ + pose_range["x"][1], + pose_range["y"][1], + pose_range["z"][1], + ] + self.fixed_asset_init_orn_deg = [0.0, 0.0, 0.0] + self.fixed_asset_init_orn_deg_range = [ + math.degrees(pose_range["roll"][1]), + math.degrees(pose_range["pitch"][1]), + math.degrees(pose_range["yaw"][1]), + ] + + socket_pos_noise = self.observations.policy.socket_pos.noise.noise_cfg.n_max + self.fixed_asset_pos_obs_noise_level = [ + socket_pos_noise, + socket_pos_noise, + socket_pos_noise, + ] From da666c7f2d20e114aca051005ee3091db2d0233c Mon Sep 17 00:00:00 2001 From: curiep Date: Fri, 1 May 2026 08:50:53 -0700 Subject: [PATCH 02/65] Fix cable-insertion grasp by aligning fingertips with plug mesh The Rizon 4s cable-insertion task was failing every episode at reset: the IK + open-loop close sequence put the gripper next to the plug instead of around it, the fingers closed on empty space, and the plug fell to the floor (or twisted away when a finger clipped its edge). Root cause was a geometry mismatch between the un-flattened plug USD and the IK target. The un-flattened plug has its visible/collision ``Mesh`` offset ~3 cm from the rigid-body origin (``bbox_center_local = (0.0312, 0.0009, -0.0107)`` in body frame). ``set_robot_to_object_grasp_pose`` snapped the plug body to the gripper-achieved pose, but the achieved pose was a function of the *body* origin, not the visible centre, so the fingertips landed ~3 cm from the actual plug. Switch to the flattened plug + socket USDs (``flattened/`` directory) where ``bbox_center == (0, 0, 0)`` and the visible mesh coincides with the rigid-body origin. With that, the grasp parameters reduce to the gripper tool length only: * ``grasp_offset = (0, 0, -0.13)`` -- only backs ``link7`` off by the Grav tool length so the fingertips land at the plug body origin (which is now also the visible centre). * ``grasp_rot_offset = (-0.707, 0.707, 0, 0)`` (unchanged) keeps ``link7`` pointing straight down with the gripper finger axis perpendicular to the plug's long body Y axis. * Plug + socket use identity ``init_state.rot``; the flattened USDs already align the long axis with body Y. * Plug spawns 5 cm above the socket so the policy has descent room. * ``hand_close_width = 0.0`` matches the gear-assembly small-gear close target. ``-0.155`` (the joint hard limit) was tried and ejected the plug because the drive over-commanded the fingers. Also extend ``set_robot_to_object_grasp_pose``: * Snap the held object to the achieved hand pose after IK so any IK residual error or geometry offset is washed out before the gripper closes. * One-shot ``[GRASP-DBG]`` log dumps the initial pose, the IK target, the achieved hand pose and the snapped object pose -- invaluable for diagnosing future grasp regressions. --- .../contrib/deploy/mdp/events.py | 92 ++++++++++++++++++- .../cable_insertion_env_cfg.py | 19 ++-- .../config/rizon_4s/joint_pos_env_cfg.py | 66 ++++++++++--- 3 files changed, 154 insertions(+), 23 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index 9aec5bb81886..82adc96fcbd6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -598,7 +598,36 @@ def __call__( grasp_offsets = self.grasp_offsets_buffer[:num_reset_envs] grasp_rot_offset_tensor = self.grasp_rot_offset_tensor[env_ids] - for _ in range(max_iterations): + # One-shot debug log to confirm the event fires and report IK convergence. + # Remove or guard once the grasp wiring is verified. + debug_first_call = not getattr(self, "_debug_printed", False) + if debug_first_call: + self._debug_printed = True + target_object_dbg: RigidObject = env.scene[self.target_object_name] + init_obj_pos = wp.to_torch(target_object_dbg.data.root_link_pos_w)[env_ids][0].tolist() + init_obj_quat = wp.to_torch(target_object_dbg.data.root_link_quat_w)[env_ids][0].tolist() + init_eef_pos = wp.to_torch(self.robot_asset.data.body_pos_w)[env_ids, self.eef_idx][0].tolist() + init_eef_quat = wp.to_torch(self.robot_asset.data.body_quat_w)[env_ids, self.eef_idx][0].tolist() + print( + f"[GRASP-DBG] set_robot_to_object_grasp_pose fired:" + f" target={self.target_object_name!r} num_reset_envs={num_reset_envs}" + f" eef_idx={self.eef_idx} num_arm_joints={self.num_arm_joints}\n" + f" grasp_offset={self.grasp_offset_tensor.tolist()}" + f" grasp_rot_offset(xyzw)={self.grasp_rot_offset_tensor[0].tolist()}" + f" hand_close_width={self.hand_close_width}\n" + f" init_obj_pos_w={init_obj_pos}" + f" init_obj_quat(xyzw)={init_obj_quat}\n" + f" init_eef_pos_w={init_eef_pos}" + f" init_eef_quat(xyzw)={init_eef_quat}" + ) + + last_pos_err = None + last_rot_err = None + converged_at = -1 + last_target_pos = None + last_target_quat = None + + for _iter in range(max_iterations): joint_pos = wp.to_torch(self.robot_asset.data.joint_pos)[env_ids].clone() joint_vel = wp.to_torch(self.robot_asset.data.joint_vel)[env_ids].clone() @@ -624,6 +653,9 @@ def __call__( eef_pos = wp.to_torch(self.robot_asset.data.body_pos_w)[env_ids, self.eef_idx] eef_quat = wp.to_torch(self.robot_asset.data.body_quat_w)[env_ids, self.eef_idx] + last_target_pos = grasp_object_pos_world.clone() + last_target_quat = grasp_object_quat.clone() + pos_error, axis_angle_error = fc.get_pose_error( fingertip_midpoint_pos=eef_pos, fingertip_midpoint_quat=eef_quat, @@ -636,8 +668,11 @@ def __call__( pos_error_norm = torch.linalg.norm(pos_error, dim=-1) rot_error_norm = torch.linalg.norm(axis_angle_error, dim=-1) + last_pos_err = pos_error_norm + last_rot_err = rot_error_norm if torch.all(pos_error_norm < pos_threshold) and torch.all(rot_error_norm < rot_threshold): + converged_at = _iter break jacobians = wp.to_torch(self.robot_asset.root_view.get_jacobians()).clone() @@ -672,6 +707,53 @@ def __call__( self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) + # Snap the held object to the achieved gripper pose so the gripper actually + # holds it after closing. Without this, any IK residual error or USD + # geometry offset leaves the object outside the finger gap and gravity drops + # it. Mirrors the reference behaviour in + # ``IsaacLab_UR/tasks/insert/env.py::_reset_objects`` which writes + # ``held_asset_pose = achieved_hand_pose * inv(grasp_in_asset_pose)``. + held_object = env.scene[self.target_object_name] + achieved_hand_pos = wp.to_torch(self.robot_asset.data.body_pos_w)[env_ids, self.eef_idx].clone() + achieved_hand_quat = wp.to_torch(self.robot_asset.data.body_quat_w)[env_ids, self.eef_idx].clone() + + # Object orientation: inverse of grasp_rot_offset applied to the achieved hand quat, + # because IK target was ``hand = obj * grasp_rot_offset`` => ``obj = hand * grasp_rot_offset^{-1}``. + inv_grasp_rot_offset = math_utils.quat_conjugate(grasp_rot_offset_tensor) + target_obj_quat = math_utils.quat_mul(achieved_hand_quat, inv_grasp_rot_offset) + + # Object position: IK target was + # ``hand_pos = obj_pos + R(obj * grasp_rot_offset) * grasp_offset`` + # = ``obj_pos + R(hand_quat) * grasp_offset`` + # so ``obj_pos = hand_pos - R(hand_quat) * grasp_offset``. + grasp_offset_in_world = math_utils.quat_apply(achieved_hand_quat, grasp_offsets) + target_obj_pos = achieved_hand_pos - grasp_offset_in_world + + new_root_pose = torch.cat([target_obj_pos, target_obj_quat], dim=-1) + zero_velocity = torch.zeros((len(env_ids), 6), device=env.device, dtype=torch.float32) + held_object.write_root_pose_to_sim(new_root_pose, env_ids=env_ids) + held_object.write_root_velocity_to_sim(zero_velocity, env_ids=env_ids) + + if debug_first_call: + pos_err_max = float(last_pos_err.max().item()) if last_pos_err is not None else float("nan") + rot_err_max = float(last_rot_err.max().item()) if last_rot_err is not None else float("nan") + tgt_pos0 = target_obj_pos[0].tolist() + tgt_quat0 = target_obj_quat[0].tolist() + eef_pos0 = achieved_hand_pos[0].tolist() + eef_quat0 = achieved_hand_quat[0].tolist() + ik_target_pos0 = last_target_pos[0].tolist() if last_target_pos is not None else None + ik_target_quat0 = last_target_quat[0].tolist() if last_target_quat is not None else None + print( + f"[GRASP-DBG] IK done: converged_at_iter={converged_at}\n" + f" max_pos_err={pos_err_max:.6f} m, max_rot_err={rot_err_max:.6f} rad\n" + f" IK_target_pos_w[0]={ik_target_pos0}\n" + f" IK_target_quat(xyzw)[0]={ik_target_quat0}\n" + f" achieved_eef_pos_w[0]={eef_pos0}\n" + f" achieved_eef_quat(xyzw)[0]={eef_quat0}\n" + f" snapped_obj_pos_w[0]={tgt_pos0}\n" + f" snapped_obj_quat(xyzw)[0]={tgt_quat0}" + ) + joint_vel = torch.zeros_like(wp.to_torch(self.robot_asset.data.joint_vel)[env_ids]) joint_pos = wp.to_torch(self.robot_asset.data.joint_pos)[env_ids].clone() @@ -683,10 +765,12 @@ def __call__( self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) + # Drive the fingers toward ``hand_close_width`` but DO NOT write the joint state. + # The drive applies a closing torque; the held object stops the fingers via + # collision, producing a steady squeeze. Writing the joint state here would + # snap the fingers through the object and eject it on the next physics step + # (matches the gear-assembly :class:`set_robot_to_grasp_pose` pattern). self.gripper_joint_setter_func( joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_close_width ) - self.robot_asset.set_joint_position_target_index(target=joint_pos, joint_ids=self.all_joints, env_ids=env_ids) - self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) - self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py index 32eee3e1c797..8670fd6e6930 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py @@ -27,7 +27,16 @@ from isaaclab_tasks.manager_based.manipulation.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg CONFIG_DIR = os.path.dirname(os.path.abspath(__file__)) -ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets") +# Use the FLATTENED USDs (produced by ``scripts/tools/flatten_cable_usd.py``). +# Flattening bakes any per-prim ``xformOp`` translations/rotations into the mesh +# vertices and recentres the collidable mesh so that ``bbox_center == (0, 0, 0)`` +# in the rigid-body frame. This is required for stable grasping because the +# IK-based grasp event places the gripper at the rigid-body origin via +# ``grasp_offset`` -- if the visible/collision mesh is offset from the body +# origin (as in the un-flattened source USDs), the fingertips end up beside the +# plug rather than around it, the gripper closes on empty space, and the plug +# slides out (which is what we observed in the un-flattened smoke tests). +ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets", "flattened") ## # Asset Configurations @@ -40,14 +49,10 @@ class GB300Plug(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/GB300Plug" spawn = sim_utils.UsdFileCfg( - usd_path=os.path.join(ASSETS_DIR, "plug_A_no_snapfit_latch_transformed.usd"), + usd_path=os.path.join(ASSETS_DIR, "plug_A_no_snapfit_latch_no_bulge_collision_mesh.usd"), activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( - # NOTE: gravity disabled while bringing up the task. With gravity on, - # any tiny gap between the gripper fingers and the plug at reset - # time causes the plug to slip and fall before the policy can - # stabilize the grasp. Re-enable once the grasp wiring is verified. - disable_gravity=True, + disable_gravity=False, kinematic_enabled=False, max_depenetration_velocity=5.0, linear_damping=0.0, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py index 9c719e2c28f0..f22201d41a44 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py @@ -156,7 +156,9 @@ class TerminationsCfg: "plug_asset_cfg": SceneEntityCfg("gb300_plug"), "distance_threshold": 0.15, "end_effector_body_name": "link7", - "grasp_offset": [0.0, 0.0, -0.35], + # grasp_offset/grasp_rot_offset are populated in __post_init__ to keep + # them in sync with the IK grasp-pose configuration. + "grasp_offset": [0.0, 0.0, -0.13], "grasp_rot_offset": [-0.70711, 0.70711, 0.0, 0.0], }, ) @@ -184,7 +186,26 @@ def __post_init__(self): self.end_effector_body_name = "link7" self.num_arm_joints = 7 - self.grasp_offset = [0.0, 0.0, -0.35] + # ``grasp_offset`` is the offset from the plug body origin to ``link7`` expressed + # in the rotated plug frame (after applying ``grasp_rot_offset``). With the + # FLATTENED plug USD the visible/collidable mesh is centred on the rigid-body + # origin (``bbox_center_local = (0, 0, 0)``; verified via + # ``scripts/tools/inspect_cable_usd_kit.py``), so ``grasp_offset`` only needs + # to back the gripper off by the gripper tool length so that the fingertips + # end up exactly at the plug body origin (= visible mesh centre). + # + # Grav tool length: the IsaacLab Nucleus ``rizon4s_with_grav.usd`` has + # ``link7 -> fingertip = 0.13 m`` (verified empirically: with the un-flattened + # plug + the (now-removed) bbox-compensated ``grasp_offset``, the IK ended up + # placing ``link7`` exactly ``0.13 m`` above the plug body origin; the + # gear-assembly task uses ``-0.35 m`` here because its target is the top of + # the 0.22 m gear shaft, so 0.35 = 0.22 + 0.13). + # + # ``grasp_rot_offset = R_x(-90 deg)`` matches the gear-assembly task; combined + # with the plug's identity ``init_state.rot``, ``link7`` ends up pointing + # straight down (gripper finger axis perpendicular to the plug's long body Y + # axis, so the fingers can clamp the plug's narrow body X axis = 1.18 cm). + self.grasp_offset = [0.0, 0.0, -0.13] self.grasp_rot_offset = [-0.70711, 0.70711, 0.0, 0.0] self.gripper_joint_setter_func = set_finger_joint_pos_grav @@ -271,10 +292,12 @@ def __post_init__(self): ), ) - # Grav gripper actuator configuration (implicit - PhysX built-in joint drives) + # Grav gripper actuator configuration (implicit - PhysX built-in joint drives). + # Match gear_assembly Rizon-Grav settings: 2 N*m squeeze is enough to firmly hold + # a 19 g plug between the fingers without overdriving the joint past its limit. self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( joint_names_expr=["finger_joint"], - effort_limit_sim=1.0, + effort_limit_sim=2.0, velocity_limit_sim=1.0, stiffness=2e3, damping=1e1, @@ -288,20 +311,39 @@ def __post_init__(self): damping=0.0, ) - # Override plug/socket positions to match the gear assembly Flexiv workspace layout. - # Socket = gear_base (fixed target), Plug = gear (held object, offset above socket). + # Override plug/socket positions to match the gear-assembly Flexiv workspace + # layout. Socket = gear_base (fixed insertion target). Plug = gear (held + # object, offset above socket so it can be inserted downward). + # + # Both assets use IDENTITY rotation -- the FLATTENED USDs already align the + # collidable mesh long axis with body Y and the insertion axis with body Z. + # The plug spawn pose only seeds the IK target; after IK, + # :class:`mdp.set_robot_to_object_grasp_pose` snaps the plug to the achieved + # gripper pose so any small spawn-pose error is washed out. self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( pos=(0.481, -0.073, 0.071), - rot=(0.0, 0.0, 0.70711, -0.70711), + rot=(0.0, 0.0, 0.0, 1.0), ) + # Plug ~5 cm above the socket so the policy has room to descend during + # insertion. With grasp_offset = (0, 0, -0.13) and identity plug rotation, + # link7 ends up at plug_pos + (0, 0, 0.13) and the fingertips at plug_pos. self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=(0.481, -0.073, 0.139), - rot=(0.0, 0.0, 0.70711, -0.70711), + pos=(0.481, -0.073, 0.121), + rot=(0.0, 0.0, 0.0, 1.0), ) - # Grasp widths for the Grav gripper holding the plug. Positive values open - # the gripper; ``hand_grasp_width`` creates a gap for the plug, while - # ``hand_close_width`` squeezes the fingers shut to hold it. + # Grav gripper joint convention (per ``FLEXIV_RIZON4S_GRAV_GRIPPER_CFG``): + # ``+0.785 rad (45 deg)`` fully open, ``-0.155 rad (-8.88 deg)`` fully + # closed. + # The flattened plug body is ~11.8 mm wide along the squeeze axis (body X, + # per the USD bbox). At the reset, ``hand_grasp_width=0.05 rad`` opens the + # fingers to ~16 mm so the plug fits between them; the drive is then + # commanded to close to ``hand_close_width=0.0 rad`` (matching the + # gear-assembly small-gear close width). At ``0.0`` the fingers would meet + # if unobstructed, but the plug stops them via collision and the drive + # applies a steady squeeze (200 N -> ~80 N at the fingertips, plenty for a + # 19 g plug). Using the hard-close limit ``-0.155`` was tried previously + # and ejected the plug because the drive over-commanded the fingers. self.hand_grasp_width = 0.05 self.hand_close_width = 0.0 From f6a6b55395142f1f2707e97f4006fa82bc420870 Mon Sep 17 00:00:00 2001 From: curiep Date: Fri, 1 May 2026 08:51:52 -0700 Subject: [PATCH 03/65] Align cable-insertion ROS inference cfg with Hubble Lab Rizon mount The Flexiv Rizon 4s in the NVIDIA Hubble Lab is wall-mounted with the arm rotated about the negative X-axis. Update the ROS inference env config so the simulator's reset state matches the physical robot: * Set the home joint pose to the lab's joint convention. * Set the robot base orientation to the wall-mount quaternion so the arm hangs the same way in sim and in the real cell. This keeps the policy roll-out and the live deployment in the same robot frame, which is required for the policy obs (computed relative to ``base_link``) to be valid at inference time. --- .../config/rizon_4s/ros_inference_env_cfg.py | 22 ++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py index c0c82d492d12..5be0fc2de691 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py @@ -13,11 +13,13 @@ @configclass class Rizon4sGravCableInsertionROSInferenceEnvCfg(Rizon4sGravCableInsertionEnvCfg): - """Configuration for ROS inference with Flexiv Rizon 4s for cable insertion. + """ROS / Isaac Manipulator inference fields plus deployment alignment for NVIDIA Hubble Lab. This configuration: - Exposes variables needed for Isaac Manipulator ROS inference. + - Aligns robot mounting pose with the Flexiv Rizon 4s installation at NVIDIA Hubble Lab + (wall-mount with 90° rotation about negative X-axis). - Overrides plug and socket initial poses for a fixed/deterministic setup. """ @@ -37,8 +39,22 @@ def __post_init__(self): self.joint_action_scale = self.actions.arm_action.scale self.action_scale_joint_space = [self.joint_action_scale] * self.action_space - # Override robot initial rotation for deterministic setup - self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) + # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- + # Lab home joint pose (radians); aligns sim defaults / reset with the physical stand. + self.scene.robot.init_state.joint_pos = { + "joint1": math.radians(-90.0), + "joint2": math.radians(90.0), + "joint3": 0.0, + "joint4": math.radians(90.0), + "joint5": 0.0, + "joint6": 0.0, + "joint7": 0.0, + } + + # Wall-mount quaternion (w, x, y, z) = (0.5, 0.5, 0.5, 0.5): + # 90° rotation about negative X-axis (matches Hubble Lab Flexiv Rizon 4s mount). + self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) + self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) # Override plug and socket initial poses for ROS inference (fixed, deterministic) self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( From 3c84676507795610abc1b0d0ef50a147596e0f16 Mon Sep 17 00:00:00 2001 From: curiep Date: Fri, 1 May 2026 08:52:13 -0700 Subject: [PATCH 04/65] Add USD inspection and flattening tools for plug/socket assets Three small scripts under ``scripts/tools/`` to diagnose and repair USD assets whose visible/collision geometry is offset from the rigid-body origin -- the failure mode that broke the Rizon 4s cable-insertion grasp. * ``inspect_cable_usd.py``: standalone Pixar-USD walker. Lists xform ops, ``RigidBodyAPI`` / ``MassAPI`` / ``CollisionAPI`` markers and per-mesh ``bbox_center_local`` / ``bbox_size``. Use this from any shell that already has ``pxr`` on PYTHONPATH (e.g. a Kit Python). * ``inspect_cable_usd_kit.py``: same walker run inside an IsaacLab ``AppLauncher`` context so ``pxr`` is available without extra setup. This is what we actually used during debugging from the IsaacLab conda env. * ``flatten_cable_usd.py``: bake the chain of intermediate xforms down into the leaf mesh's points, then reset all xform ops on the rigid-body and its children to identity. The result is a USD whose visible mesh is centered at the rigid-body origin -- exactly the invariant the IK-based grasp event assumes. Supports an optional ``--rotate-z-deg`` knob for assets whose body-local pose needs an additional rotation baked in. Both inspectors print the bounding-box centre in body-local frame so ``grasp_offset`` can be set deterministically from the asset rather than tuned by trial and error. --- scripts/tools/flatten_cable_usd.py | 257 +++++++++++++++++++++++++ scripts/tools/inspect_cable_usd.py | 94 +++++++++ scripts/tools/inspect_cable_usd_kit.py | 107 ++++++++++ 3 files changed, 458 insertions(+) create mode 100644 scripts/tools/flatten_cable_usd.py create mode 100644 scripts/tools/inspect_cable_usd.py create mode 100644 scripts/tools/inspect_cable_usd_kit.py diff --git a/scripts/tools/flatten_cable_usd.py b/scripts/tools/flatten_cable_usd.py new file mode 100644 index 000000000000..c2276b27f6de --- /dev/null +++ b/scripts/tools/flatten_cable_usd.py @@ -0,0 +1,257 @@ +"""Fix plug/socket USDs so the rigid-body origin coincides with the visible mesh centroid. + +Both ``plug_A_no_snapfit_latch_transformed.usd`` and +``socket_A_simplified_minimal_transformed.usd`` were authored with the rigid-body prim +at the asset origin and child Xforms / Mesh prims with large baked-in **translates** +(e.g. ``(0.025, 0.564, 0.053)`` on the plug), plus rotations that orient the geometry +correctly. The convention these USDs follow is "geometry is centered at mesh-local +origin, the xform translates the geometry to its desired place in the source scene". + +The translate offsets put the visible/collidable mesh ~56 cm away from the rigid body +that IsaacLab tracks, so the gripper IK reaches the rigid-body origin while the actual +plug sits half a meter elsewhere. This script fixes that by: + +1. Walking from each leaf ``Mesh`` up to the rigid-body root, accumulating the chain + of local transforms into a single 4x4. +2. Splitting that 4x4 into a rotation ``R`` and a translation ``t``. +3. Baking only ``R`` into the mesh's ``points`` (and ``normals`` if authored). +4. Resetting all intermediate ``xformOps`` to identity. + +End state: the mesh has identity xform and rotated vertices, so ``v_world = body_world +· R · v_local``. The mesh-local origin (which is the visual centroid by CAD-export +convention) maps to the rigid-body origin in world space, and the original orientation +is preserved. + +Run via the helper that injects pxr's runtime libs onto the path: + + USD_LIBS=_isaac_sim/extscache/omni.usd.libs-1.0.1+4a5123f4.lx64.r.cp312 + LD_LIBRARY_PATH="$(pwd)/$USD_LIBS/bin:${LD_LIBRARY_PATH}" \\ + PYTHONPATH="$(pwd)/$USD_LIBS:${PYTHONPATH}" \\ + ./isaaclab.sh -p scripts/tools/flatten_cable_usd.py \\ + -o source/.../cable_insertion_assets/flattened +""" + +from __future__ import annotations + +import argparse +import shutil +from pathlib import Path + +from pxr import Gf, Sdf, Usd, UsdGeom, UsdPhysics + +DEFAULT_ASSETS = [ + Path( + "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/" + "cable_insertion/cable_insertion_assets/plug_A_no_snapfit_latch_transformed.usd" + ), + Path( + "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/" + "cable_insertion/cable_insertion_assets/socket_A_simplified_minimal_transformed.usd" + ), +] + + +def find_rigid_body_root(stage: Usd.Stage) -> Usd.Prim | None: + """Return the first prim with ``RigidBodyAPI`` applied, depth-first.""" + for prim in stage.Traverse(): + if prim.HasAPI(UsdPhysics.RigidBodyAPI): + return prim + return None + + +def local_matrix(prim: Usd.Prim) -> Gf.Matrix4d: + """Return the 4x4 local transform for a prim (identity if not Xformable).""" + if not prim.IsA(UsdGeom.Xformable): + return Gf.Matrix4d(1.0) + return UsdGeom.Xformable(prim).GetLocalTransformation(Usd.TimeCode.Default()) + + +def reset_xform_ops(prim: Usd.Prim) -> None: + """Clear all xformOps on a prim (it becomes identity in its parent's frame).""" + if not prim.IsA(UsdGeom.Xformable): + return + UsdGeom.Xformable(prim).ClearXformOpOrder() + for attr in list(prim.GetAttributes()): + if attr.GetName().startswith("xformOp:"): + prim.RemoveProperty(attr.GetName()) + + +def rotation_only_4x4(matrix: Gf.Matrix4d) -> Gf.Matrix4d: + """Strip the translation row from a 4x4, leaving rotation+scale only.""" + rot_only = Gf.Matrix4d(matrix) + rot_only.SetTranslateOnly(Gf.Vec3d(0.0, 0.0, 0.0)) + return rot_only + + +def apply_rotation_and_center(mesh: UsdGeom.Mesh, rot4x4: Gf.Matrix4d) -> Gf.Vec3d: + """Rotate mesh points by ``rot4x4`` and shift so the AABB centre is at origin. + + Returns: + The bbox-centre offset (in body-local coords) that was subtracted from each + vertex, for diagnostic logging. + """ + points_attr = mesh.GetPointsAttr() + pts = points_attr.Get() + if pts is None: + return Gf.Vec3d(0.0, 0.0, 0.0) + + rotated = [rot4x4.Transform(p) for p in pts] + + if rotated: + min_p = Gf.Vec3d(rotated[0]) + max_p = Gf.Vec3d(rotated[0]) + for p in rotated[1:]: + for i in range(3): + if p[i] < min_p[i]: + min_p[i] = p[i] + if p[i] > max_p[i]: + max_p[i] = p[i] + center = Gf.Vec3d( + (min_p[0] + max_p[0]) / 2, + (min_p[1] + max_p[1]) / 2, + (min_p[2] + max_p[2]) / 2, + ) + else: + center = Gf.Vec3d(0.0, 0.0, 0.0) + + centered = [Gf.Vec3f(p[0] - center[0], p[1] - center[1], p[2] - center[2]) for p in rotated] + points_attr.Set(centered) + + normals_attr = mesh.GetNormalsAttr() + if normals_attr.HasAuthoredValue(): + rot3x3 = rot4x4.ExtractRotationMatrix() + normals = normals_attr.Get() + if normals is not None: + new_normals = [rot3x3 * n for n in normals] + normals_attr.Set(new_normals) + + return center + + +def extra_rotation_4x4(extra_rot_z_deg: float) -> Gf.Matrix4d: + """Build a rotation-only 4x4 for the requested body-local Z rotation.""" + if extra_rot_z_deg == 0.0: + return Gf.Matrix4d(1.0) + rot = Gf.Rotation(Gf.Vec3d(0, 0, 1), extra_rot_z_deg) + matrix = Gf.Matrix4d(1.0) + matrix.SetRotateOnly(rot) + return matrix + + +def fix_descendants(rigid_root: Usd.Prim, extra_rot_z_deg: float = 0.0) -> tuple[int, int]: + """Bake rotation, drop translation for every chain from ``rigid_root`` to a Mesh. + + Args: + rigid_root: The prim with ``RigidBodyAPI`` to start the descent from. + extra_rot_z_deg: Optional additional rotation (degrees) about the body-local Z + axis applied after bbox-centring. Use this to align a new asset's geometry + orientation with an existing convention (e.g. when a replacement plug has + its long axis along X but the rest of the pipeline expects it along Y). + + Returns: + A ``(num_meshes_processed, num_xforms_reset)`` tuple for reporting. + """ + meshes_processed = 0 + xforms_to_reset: dict[Sdf.Path, Usd.Prim] = {} + + extra_rot = extra_rotation_4x4(extra_rot_z_deg) + + for prim in Usd.PrimRange(rigid_root): + if prim == rigid_root: + continue + if not prim.IsA(UsdGeom.Mesh): + continue + mesh = UsdGeom.Mesh(prim) + + accumulated = Gf.Matrix4d(1.0) + cursor = prim + while cursor != rigid_root and cursor.IsValid(): + accumulated = local_matrix(cursor) * accumulated + xforms_to_reset[cursor.GetPath()] = cursor + cursor = cursor.GetParent() + + # Always run bbox-centring even when the chain is identity: some assets + # ship with the geometry offset baked into the vertex coordinates + # themselves (no xformOps), and we still want body origin == bbox centre. + translation = accumulated.ExtractTranslation() + rotation_only = rotation_only_4x4(accumulated) + # Compose the asset's own rotation with the optional extra Z rotation; both + # are applied in body-local space so geometry ends up centred and re-aligned. + composed = extra_rot * rotation_only + bbox_offset = apply_rotation_and_center(mesh, composed) + meshes_processed += 1 + print(f" mesh={prim.GetPath()}") + print(f" dropped translation={tuple(translation)}") + print(f" shifted bbox centre by={tuple(bbox_offset)} so geometry is centred at body origin") + if extra_rot_z_deg != 0.0: + print(f" applied extra body-local Z rotation={extra_rot_z_deg} deg") + + for prim in xforms_to_reset.values(): + reset_xform_ops(prim) + + return meshes_processed, len(xforms_to_reset) + + +def process_asset(usd_path: Path, out_path: Path | None = None, extra_rot_z_deg: float = 0.0) -> None: + print(f"--- {usd_path}") + if not usd_path.exists(): + print(" ! file not found, skipping") + return + + stage = Usd.Stage.Open(str(usd_path)) + if stage is None: + print(" ! failed to open") + return + + rigid_root = find_rigid_body_root(stage) + if rigid_root is None: + print(" ! no RigidBodyAPI prim found, skipping") + return + print(f" rigid body prim: {rigid_root.GetPath()}") + + meshes, xforms = fix_descendants(rigid_root, extra_rot_z_deg=extra_rot_z_deg) + print(f" baked rotation into {meshes} mesh(es); reset {xforms} intermediate prim(s)") + + target = out_path if out_path is not None else usd_path + if out_path is None: + backup = usd_path.with_suffix(usd_path.suffix + ".bak") + if not backup.exists(): + shutil.copy2(usd_path, backup) + print(f" wrote backup -> {backup}") + + stage.GetRootLayer().Export(str(target)) + print(f" saved -> {target}") + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__.splitlines()[0]) + parser.add_argument("paths", nargs="*", type=Path, default=DEFAULT_ASSETS) + parser.add_argument( + "-o", + "--out-dir", + type=Path, + default=None, + help="If set, write fixed USDs into this dir instead of overwriting (no backup is made).", + ) + parser.add_argument( + "--rotate-z-deg", + type=float, + default=0.0, + help=( + "Apply this additional body-local Z rotation (degrees) to vertices after " + "bbox-centring. Use to align a replacement asset's long axis with the " + "convention of the rest of the pipeline (e.g. 90 deg to swap X and Y)." + ), + ) + args = parser.parse_args() + + if args.out_dir is not None: + args.out_dir.mkdir(parents=True, exist_ok=True) + + for usd_path in args.paths: + out = args.out_dir / usd_path.name if args.out_dir is not None else None + process_asset(usd_path, out, extra_rot_z_deg=args.rotate_z_deg) + + +if __name__ == "__main__": + main() diff --git a/scripts/tools/inspect_cable_usd.py b/scripts/tools/inspect_cable_usd.py new file mode 100644 index 000000000000..8bf895bc9bd4 --- /dev/null +++ b/scripts/tools/inspect_cable_usd.py @@ -0,0 +1,94 @@ +"""Quick inspector to find any baked-in xform offsets in plug/socket USDs.""" + +import sys + +from pxr import Usd, UsdGeom, UsdPhysics + +"""Set ``ASSETS`` from the command line, or edit this list to inspect other USDs.""" +ASSETS = sys.argv[1:] or [ + "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_assets/plug_A_no_snapfit_latch_transformed.usd", + "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_assets/socket_A_simplified_minimal_transformed.usd", +] + + +def inspect_xform_ops(prim, depth=0, max_depth=8, rb_world_to_local=None): + """Recurse and print xform ops, RigidBody/Mass/Collision markers, and Mesh bbox in body-local frame.""" + if depth > max_depth: + return + indent = " " * depth + name = prim.GetName() or "/" + typename = prim.GetTypeName() + + has_rb = prim.HasAPI(UsdPhysics.RigidBodyAPI) + has_mass = prim.HasAPI(UsdPhysics.MassAPI) + has_collision = prim.HasAPI(UsdPhysics.CollisionAPI) + + msg_extras = [] + if has_rb: + msg_extras.append("RigidBodyAPI") + rb = UsdPhysics.RigidBodyAPI(prim) + if rb.GetRigidBodyEnabledAttr().IsAuthored(): + msg_extras.append(f"rb_enabled={rb.GetRigidBodyEnabledAttr().Get()}") + if rb.GetKinematicEnabledAttr().IsAuthored(): + msg_extras.append(f"kinematic={rb.GetKinematicEnabledAttr().Get()}") + # disable_gravity is on PhysxRigidBodyAPI, but we can check via authored attrs + for a in prim.GetAttributes(): + if "disableGravity" in a.GetName() or "gravity" in a.GetName().lower(): + msg_extras.append(f"{a.GetName()}={a.Get()}") + if has_mass: + msg_extras.append("MassAPI") + if has_collision: + msg_extras.append("CollisionAPI") + + if prim.IsA(UsdGeom.Xformable): + x = UsdGeom.Xformable(prim) + ops = x.GetOrderedXformOps() + op_strs = [] + for op in ops: + try: + val = op.Get() + except Exception: + val = "?" + op_strs.append(f"{op.GetOpName()}={val}") + if op_strs: + msg_extras.append("ops=[" + ", ".join(op_strs) + "]") + + if prim.IsA(UsdGeom.Mesh): + mesh = UsdGeom.Mesh(prim) + pts = mesh.GetPointsAttr().Get() + if pts is not None and len(pts) > 0: + from pxr import Gf as _Gf + min_p = _Gf.Vec3d(float("inf"), float("inf"), float("inf")) + max_p = _Gf.Vec3d(float("-inf"), float("-inf"), float("-inf")) + for p in pts: + for i in range(3): + min_p[i] = min(min_p[i], p[i]) + max_p[i] = max(max_p[i], p[i]) + center = ((min_p[0] + max_p[0]) / 2, (min_p[1] + max_p[1]) / 2, (min_p[2] + max_p[2]) / 2) + size = (max_p[0] - min_p[0], max_p[1] - min_p[1], max_p[2] - min_p[2]) + msg_extras.append(f"bbox_center_local=({center[0]:.4f},{center[1]:.4f},{center[2]:.4f})") + msg_extras.append(f"bbox_size=({size[0]:.4f},{size[1]:.4f},{size[2]:.4f})") + + extras = " ".join(msg_extras) + print(f"{indent}- {name} <{typename}>{' ' + extras if extras else ''}") + + for child in prim.GetChildren(): + inspect_xform_ops(child, depth + 1, max_depth) + + +for asset in ASSETS: + print("=" * 100) + print(f"INSPECTING: {asset}") + print("=" * 100) + stage = Usd.Stage.Open(asset) + if stage is None: + print(f" Failed to open {asset}") + continue + print(f" Default prim: {stage.GetDefaultPrim().GetPath()}") + print(f" Up axis: {UsdGeom.GetStageUpAxis(stage)}") + print(f" Meters per unit: {UsdGeom.GetStageMetersPerUnit(stage)}") + print() + inspect_xform_ops(stage.GetPseudoRoot(), depth=0, max_depth=10) + print() + +sys.exit(0) diff --git a/scripts/tools/inspect_cable_usd_kit.py b/scripts/tools/inspect_cable_usd_kit.py new file mode 100644 index 000000000000..fc5aec05236a --- /dev/null +++ b/scripts/tools/inspect_cable_usd_kit.py @@ -0,0 +1,107 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Quick USD inspector that runs through IsaacLab's app launcher (so pxr is importable). + +Usage: + ./isaaclab.sh -p scripts/tools/inspect_cable_usd_kit.py path/to/asset.usd [more.usd...] +""" + +from __future__ import annotations + +import argparse + +from isaaclab.app import AppLauncher + +parser = argparse.ArgumentParser() +parser.add_argument("usd_paths", nargs="+", help="USD files to inspect.") +AppLauncher.add_app_launcher_args(parser) +args = parser.parse_args() + +args.headless = True +app_launcher = AppLauncher(args) +simulation_app = app_launcher.app + +print("[INSPECT] AppLauncher up, importing pxr...", flush=True) + +from pxr import Gf, Usd, UsdGeom, UsdPhysics # noqa: E402 + +print("[INSPECT] pxr imported", flush=True) +print(f"[INSPECT] usd_paths={args.usd_paths!r}", flush=True) + + +def walk(prim, depth=0, max_depth=12): + if depth > max_depth: + return + indent = " " * depth + name = prim.GetName() or "/" + typename = prim.GetTypeName() + + extras = [] + if prim.HasAPI(UsdPhysics.RigidBodyAPI): + extras.append("RigidBodyAPI") + rb = UsdPhysics.RigidBodyAPI(prim) + if rb.GetKinematicEnabledAttr().IsAuthored(): + extras.append(f"kinematic={rb.GetKinematicEnabledAttr().Get()}") + if prim.HasAPI(UsdPhysics.MassAPI): + extras.append("MassAPI") + if prim.HasAPI(UsdPhysics.CollisionAPI): + extras.append("CollisionAPI") + + if prim.IsA(UsdGeom.Xformable): + x = UsdGeom.Xformable(prim) + ops = x.GetOrderedXformOps() + for op in ops: + try: + val = op.Get() + except Exception: + val = "?" + extras.append(f"{op.GetOpName()}={val}") + + if prim.IsA(UsdGeom.Mesh): + mesh = UsdGeom.Mesh(prim) + pts = mesh.GetPointsAttr().Get() + if pts is not None and len(pts) > 0: + min_p = Gf.Vec3d(float("inf"), float("inf"), float("inf")) + max_p = Gf.Vec3d(float("-inf"), float("-inf"), float("-inf")) + for p in pts: + for i in range(3): + min_p[i] = min(min_p[i], p[i]) + max_p[i] = max(max_p[i], p[i]) + center = ((min_p[0] + max_p[0]) / 2, (min_p[1] + max_p[1]) / 2, (min_p[2] + max_p[2]) / 2) + size = (max_p[0] - min_p[0], max_p[1] - min_p[1], max_p[2] - min_p[2]) + extras.append(f"bbox_center=({center[0]:.4f},{center[1]:.4f},{center[2]:.4f})") + extras.append(f"bbox_size=({size[0]:.4f},{size[1]:.4f},{size[2]:.4f})") + + extras_str = (" " + " | ".join(extras)) if extras else "" + print(f"{indent}- {name} <{typename}>{extras_str}") + + for child in prim.GetChildren(): + walk(child, depth + 1, max_depth) + + +for asset in args.usd_paths: + try: + print("=" * 100, flush=True) + print(f"INSPECTING: {asset}", flush=True) + print("=" * 100, flush=True) + stage = Usd.Stage.Open(asset) + if stage is None: + print(" Failed to open stage", flush=True) + continue + default_prim = stage.GetDefaultPrim() + print(f" Default prim: {default_prim.GetPath() if default_prim else ''}", flush=True) + print(f" Up axis: {UsdGeom.GetStageUpAxis(stage)}", flush=True) + print(f" Meters per unit: {UsdGeom.GetStageMetersPerUnit(stage)}", flush=True) + print(flush=True) + walk(stage.GetPseudoRoot(), 0) + print(flush=True) + except Exception as exc: + print(f"[INSPECT] EXCEPTION while inspecting {asset}: {exc!r}", flush=True) + import traceback + + traceback.print_exc() + +simulation_app.close() From 31d4fe63d9061b9b9bdcf45eb12b76c98c22ca70 Mon Sep 17 00:00:00 2001 From: curiep Date: Fri, 1 May 2026 08:52:37 -0700 Subject: [PATCH 05/65] Register rsl_rl agent on gear-assembly PLAY tasks The ``-Play-v0`` variants for Rizon 4s and UR10e gear assembly omitted ``rsl_rl_cfg_entry_point`` in their gym registration, so ``play.py`` could not resolve the agent config and would error out with ``KeyError`` before ever loading a checkpoint. Add the entry-point so ``./isaaclab.sh -p .../play.py --task Isaac-Deploy-GearAssembly-...-Play-v0`` works end-to-end. Also pick up a pre-commit whitespace cleanup in ``play_hardcoded.py``. --- .../contrib/deploy/gear_assembly/config/ur_10e/__init__.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py index 3765ad411d7e..ce6f3bac1388 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py @@ -29,6 +29,7 @@ disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F140GearAssemblyEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg", }, ) @@ -49,6 +50,7 @@ disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F85GearAssemblyEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg", }, ) From bff098c09d9d395c8d210a07c88c711d5f0249d6 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Fri, 1 May 2026 10:32:36 -0700 Subject: [PATCH 06/65] Fixes as per Iretis codebase as reference. --- .../contrib/deploy/mdp/rewards.py | 154 +++++++++--------- .../cable_insertion_env_cfg.py | 54 +++++- .../config/rizon_4s/joint_pos_env_cfg.py | 97 +++++------ .../config/rizon_4s/ros_inference_env_cfg.py | 39 ++++- 4 files changed, 201 insertions(+), 143 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py index 6f2dec6f89c4..5f7b1264bc7a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py @@ -569,118 +569,120 @@ def __call__( class keypoint_two_body_error(ManagerTermBase): - """Compute keypoint distance between two explicit :class:`~isaaclab.assets.RigidObject` assets. + """Keypoint distance between two rigid objects with body-frame offsets. - Unlike :class:`keypoint_entity_error` which relies on the gear-type manager - to select the active gear, this term takes two explicit asset configs and - always computes the keypoint distance between them. Suitable for cable - insertion and other two-body alignment tasks. + Computes keypoint frames for each object by applying a local-frame offset + (translation and optional rotation) to each object's root pose, then + measures the mean keypoint distance between the two frames. + + This handles USD assets whose root frame doesn't coincide with the + functionally relevant geometry (e.g., the GB300 socket whose root frame + is far from the actual insertion slot). Args: - asset_cfg_1: First rigid object asset config. - asset_cfg_2: Second rigid object asset config. - keypoint_scale: Scaling factor [m] for the keypoint cube size used for - distance computation. - add_cube_center_kp: Whether to include the cube center keypoint. + asset_cfg_1: Scene entity config for the first rigid object (e.g., socket). + asset_cfg_2: Scene entity config for the second rigid object (e.g., plug). + offset_1: 3D offset ``[x, y, z]`` in asset 1's local frame to its keypoint + origin. Defaults to ``[0, 0, 0]``. + offset_2: 3D offset ``[x, y, z]`` in asset 2's local frame to its keypoint + origin. Defaults to ``[0, 0, 0]``. + rot_offset_2: Quaternion ``(x, y, z, w)`` rotation applied to asset 2's + keypoint frame orientation. Typically the inverse of the goal rotation + so that keypoint frames align at the insertion goal. Defaults to identity. + keypoint_scale: Scale factor for keypoint offsets. Defaults to 0.15. """ def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv): super().__init__(cfg, env) - if "asset_cfg_1" not in cfg.params or "asset_cfg_2" not in cfg.params: - raise ValueError( - "'asset_cfg_1' and 'asset_cfg_2' parameters are required in keypoint_two_body_error configuration." - ) + self.asset_1 = env.scene[cfg.params["asset_cfg_1"].name] + self.asset_2 = env.scene[cfg.params["asset_cfg_2"].name] - self.asset_cfg_1: SceneEntityCfg = cfg.params["asset_cfg_1"] - self.asset_1 = env.scene[self.asset_cfg_1.name] + offset_1 = cfg.params.get("offset_1", [0.0, 0.0, 0.0]) + self.offset_1 = torch.tensor(offset_1, device=env.device, dtype=torch.float32) + + offset_2 = cfg.params.get("offset_2", [0.0, 0.0, 0.0]) + self.offset_2 = torch.tensor(offset_2, device=env.device, dtype=torch.float32) + + rot_offset_2 = cfg.params.get("rot_offset_2", [0.0, 0.0, 0.0, 1.0]) + self.rot_offset_2 = ( + torch.tensor(rot_offset_2, device=env.device, dtype=torch.float32).unsqueeze(0).repeat(env.num_envs, 1) + ) - self.asset_cfg_2: SceneEntityCfg = cfg.params["asset_cfg_2"] - self.asset_2 = env.scene[self.asset_cfg_2.name] + self.identity_quat = ( + torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=env.device, dtype=torch.float32).repeat(env.num_envs, 1) + ) self.keypoint_computer = _compute_keypoint_distance(cfg, env) + def _get_kp_frames( + self, env: ManagerBasedRLEnv + ) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + """Compute keypoint frames for both assets with offsets applied.""" + import warp as wp + + pos_1 = wp.to_torch(self.asset_1.data.root_pos_w) + quat_1 = wp.to_torch(self.asset_1.data.root_quat_w) + pos_2 = wp.to_torch(self.asset_2.data.root_pos_w) + quat_2 = wp.to_torch(self.asset_2.data.root_quat_w) + + offset_1_batch = self.offset_1.unsqueeze(0).expand(env.num_envs, -1) + kp_pos_1, kp_quat_1 = combine_frame_transforms(pos_1, quat_1, offset_1_batch, self.identity_quat) + + offset_2_batch = self.offset_2.unsqueeze(0).expand(env.num_envs, -1) + kp_pos_2, kp_quat_2 = combine_frame_transforms(pos_2, quat_2, offset_2_batch, self.rot_offset_2) + + return kp_pos_1, kp_quat_1, kp_pos_2, kp_quat_2 + def __call__( self, env: ManagerBasedRLEnv, - asset_cfg_1: SceneEntityCfg | None = None, - asset_cfg_2: SceneEntityCfg | None = None, - keypoint_scale: float = 1.0, - add_cube_center_kp: bool = True, + asset_cfg_1: SceneEntityCfg = SceneEntityCfg("factory_gear_base"), + asset_cfg_2: SceneEntityCfg = SceneEntityCfg("factory_gear_small"), + keypoint_scale: float = 0.15, + offset_1: list | None = None, + offset_2: list | None = None, + rot_offset_2: list | None = None, ) -> torch.Tensor: - curr_pos_1 = wp.to_torch(self.asset_1.data.body_pos_w)[:, 0] - curr_quat_1 = wp.to_torch(self.asset_1.data.body_quat_w)[:, 0] - - curr_pos_2 = wp.to_torch(self.asset_2.data.body_pos_w)[:, 0] - curr_quat_2 = wp.to_torch(self.asset_2.data.body_quat_w)[:, 0] + kp_pos_1, kp_quat_1, kp_pos_2, kp_quat_2 = self._get_kp_frames(env) keypoint_dist_sep = self.keypoint_computer.compute( - current_pos=curr_pos_1, - current_quat=curr_quat_1, - target_pos=curr_pos_2, - target_quat=curr_quat_2, + current_pos=kp_pos_1, + current_quat=kp_quat_1, + target_pos=kp_pos_2, + target_quat=kp_quat_2, keypoint_scale=keypoint_scale, ) return keypoint_dist_sep.mean(-1) -class keypoint_two_body_error_exp(ManagerTermBase): - """Exponential keypoint reward between two explicit :class:`~isaaclab.assets.RigidObject` assets. - - Exponential version of :class:`keypoint_two_body_error`. The reward peaks - near 1.0 when the two bodies are aligned and drops sharply as they diverge. +class keypoint_two_body_error_exp(keypoint_two_body_error): + """Exponential keypoint reward between two rigid objects with body-frame offsets. - Args: - asset_cfg_1: First rigid object asset config. - asset_cfg_2: Second rigid object asset config. - kp_exp_coeffs: List of ``(a, b)`` coefficients for the - ``1 / (exp(a*d) + b + exp(-a*d))`` shaping terms that are summed - (or averaged) into the final reward. - kp_use_sum_of_exps: If ``True`` (default), apply the exponential - shaping per keypoint and average; otherwise apply once on the - mean keypoint distance. - keypoint_scale: Scaling factor [m] for the keypoint cube size. - add_cube_center_kp: Whether to include the cube center keypoint. + Same offset logic as :class:`keypoint_two_body_error`, but applies an + exponential reward transformation for sharper shaping near the goal. """ - def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv): - super().__init__(cfg, env) - - if "asset_cfg_1" not in cfg.params or "asset_cfg_2" not in cfg.params: - raise ValueError( - "'asset_cfg_1' and 'asset_cfg_2' parameters are required in keypoint_two_body_error_exp configuration." - ) - - self.asset_cfg_1: SceneEntityCfg = cfg.params["asset_cfg_1"] - self.asset_1 = env.scene[self.asset_cfg_1.name] - - self.asset_cfg_2: SceneEntityCfg = cfg.params["asset_cfg_2"] - self.asset_2 = env.scene[self.asset_cfg_2.name] - - self.keypoint_computer = _compute_keypoint_distance(cfg, env) - def __call__( self, env: ManagerBasedRLEnv, - asset_cfg_1: SceneEntityCfg | None = None, - asset_cfg_2: SceneEntityCfg | None = None, + asset_cfg_1: SceneEntityCfg = SceneEntityCfg("factory_gear_base"), + asset_cfg_2: SceneEntityCfg = SceneEntityCfg("factory_gear_small"), kp_exp_coeffs: list[tuple[float, float]] = [(1.0, 0.1)], kp_use_sum_of_exps: bool = True, - keypoint_scale: float = 1.0, - add_cube_center_kp: bool = True, + keypoint_scale: float = 0.15, + offset_1: list | None = None, + offset_2: list | None = None, + rot_offset_2: list | None = None, ) -> torch.Tensor: - curr_pos_1 = wp.to_torch(self.asset_1.data.body_pos_w)[:, 0] - curr_quat_1 = wp.to_torch(self.asset_1.data.body_quat_w)[:, 0] - - curr_pos_2 = wp.to_torch(self.asset_2.data.body_pos_w)[:, 0] - curr_quat_2 = wp.to_torch(self.asset_2.data.body_quat_w)[:, 0] + kp_pos_1, kp_quat_1, kp_pos_2, kp_quat_2 = self._get_kp_frames(env) keypoint_dist_sep = self.keypoint_computer.compute( - current_pos=curr_pos_1, - current_quat=curr_quat_1, - target_pos=curr_pos_2, - target_quat=curr_quat_2, + current_pos=kp_pos_1, + current_quat=kp_quat_1, + target_pos=kp_pos_2, + target_quat=kp_quat_2, keypoint_scale=keypoint_scale, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py index 8670fd6e6930..2c62fc30d8a3 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py @@ -38,6 +38,42 @@ # slides out (which is what we observed in the un-flattened smoke tests). ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets", "flattened") +# --------------------------------------------------------------------------- +# USD body-frame offsets (from IsaacLab_UR GB300AssetConfig) +# --------------------------------------------------------------------------- +# The GB300 socket/plug USD root frames are far from the actual insertion +# geometry. These constants map root → insertion point in each asset's +# local frame and are used for observations, rewards, and computing the +# correct root positions so the geometry ends up at the desired workspace +# location. +# +# Socket: gear_offsets['plug'] from GB300Socket — root to insertion slot. +SOCKET_INSERTION_OFFSET = [0.0254, 0.5347, 0.0543] +# Plug: held_keypoint_origin_local ≈ R(goal_rot_inv) @ (gear_offsets - goal_pos). +PLUG_INSERTION_OFFSET = [0.03, 0.0, 0.0] +# Plug goal rotation relative to socket: euler(180, 0, -90) deg in (x,y,z,w). +PLUG_GOAL_ROT = [0.70711, -0.70711, 0.0, 0.0] +# Its inverse (conjugate), used for keypoint alignment in rewards. +PLUG_GOAL_ROT_INV = [-0.70711, 0.70711, 0.0, 0.0] + +# --------------------------------------------------------------------------- +# Default socket/plug workspace positions (identity socket rotation) +# --------------------------------------------------------------------------- +# Desired insertion-point position in world frame. The socket ROOT is +# placed so that root + SOCKET_INSERTION_OFFSET lands here. +_INSERTION_POINT = [0.5, 0.0, 0.0] +# socket_root = insertion_point - R(identity) @ SOCKET_INSERTION_OFFSET +_SOCKET_ROOT_POS = ( + _INSERTION_POINT[0] - SOCKET_INSERTION_OFFSET[0], + _INSERTION_POINT[1] - SOCKET_INSERTION_OFFSET[1], + _INSERTION_POINT[2] - SOCKET_INSERTION_OFFSET[2], +) +# Plug root at ~3 cm above the goal state (enough clearance for robot to +# grasp before insertion). Computed from IsaacLab_UR _reset_objects logic: +# gear_center_rel = kp_origin + insertion_axis*(base_h+h) + held_init_pos +# plug_root = socket_root + gear_center_rel - R(goal_rot) @ plug_kp_local +_PLUG_ROOT_POS = (0.5, 0.03, 0.033) + ## # Asset Configurations ## @@ -67,7 +103,7 @@ class GB300Plug(RigidObjectCfg): mass_props=sim_utils.MassPropertiesCfg(mass=0.019), collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), ) - init_state = RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.1), rot=(0.0, 0.0, 0.0, 1.0)) + init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=PLUG_GOAL_ROT) @configclass @@ -76,7 +112,7 @@ class GB300Socket(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/GB300Socket" spawn = sim_utils.UsdFileCfg( - usd_path=os.path.join(ASSETS_DIR, "socket_A_simplified_minimal_transformed.usd"), + usd_path=os.path.join(ASSETS_DIR, "socket_A_simplified_minimal.usd"), activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -94,7 +130,7 @@ class GB300Socket(RigidObjectCfg): mass_props=sim_utils.MassPropertiesCfg(mass=None), collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), ) - init_state = RigidObjectCfg.InitialStateCfg(pos=(0.45, 0.0, 0.1), rot=(0.0, 0.0, 0.0, 1.0)) + init_state = RigidObjectCfg.InitialStateCfg(pos=_SOCKET_ROOT_POS, rot=(0.0, 0.0, 0.0, 1.0)) ## @@ -145,7 +181,7 @@ class PolicyCfg(ObsGroup): joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) socket_pos = ObsTerm( func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": [0.0, 0.0, 0.0]}, + params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, noise=ResetSampledConstantNoiseModelCfg( noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") ), @@ -167,7 +203,7 @@ class CriticCfg(ObsGroup): joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) socket_pos = ObsTerm( func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": [0.0, 0.0, 0.0]}, + params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, ) socket_quat = ObsTerm( func=mdp.rigid_object_quat_w, @@ -175,7 +211,7 @@ class CriticCfg(ObsGroup): ) plug_pos = ObsTerm( func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_plug")}, + params={"asset_cfg": SceneEntityCfg("gb300_plug"), "offset": PLUG_INSERTION_OFFSET}, ) plug_quat = ObsTerm( func=mdp.rigid_object_quat_w, @@ -203,6 +239,9 @@ class RewardsCfg: params={ "asset_cfg_1": SceneEntityCfg("gb300_socket"), "asset_cfg_2": SceneEntityCfg("gb300_plug"), + "offset_1": SOCKET_INSERTION_OFFSET, + "offset_2": PLUG_INSERTION_OFFSET, + "rot_offset_2": PLUG_GOAL_ROT_INV, "keypoint_scale": 0.15, }, ) @@ -213,6 +252,9 @@ class RewardsCfg: params={ "asset_cfg_1": SceneEntityCfg("gb300_socket"), "asset_cfg_2": SceneEntityCfg("gb300_plug"), + "offset_1": SOCKET_INSERTION_OFFSET, + "offset_2": PLUG_INSERTION_OFFSET, + "rot_offset_2": PLUG_GOAL_ROT_INV, "kp_exp_coeffs": [(10, 0.0001), (50, 0.0001), (150, 0.0001), (300, 0.0001)], "kp_use_sum_of_exps": False, "keypoint_scale": 0.15, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py index f22201d41a44..42d49295955d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py @@ -19,6 +19,28 @@ CableInsertionEnvCfg, ) +# --------------------------------------------------------------------------- +# Flexiv workspace layout (matches gear assembly from ashwinvk/hubble-gear-position-1) +# --------------------------------------------------------------------------- +# Desired socket-geometry position (same as gear base in the gear assembly task). +_GEAR_BASE_POS = (0.481, -0.073, 0.071) +_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) # −90° Z, same as gear base + +# R_z(−90°) @ SOCKET_INSERTION_OFFSET = [0.5347, −0.0254, 0.0543] +# socket_root = geometry_pos − world_offset +_SOCKET_ROOT = ( + _GEAR_BASE_POS[0] - 0.5347, + _GEAR_BASE_POS[1] + 0.0254, + _GEAR_BASE_POS[2] - 0.0543, +) + +# Plug root at goal is at socket_root + R(socket_rot)@goal_pos ≈ (0.511, −0.073, 0.071). +# Start the plug ~0.068 m above the insertion point (matching gear z-offset +# range center 0.0675 from the gear assembly). +_PLUG_ROOT = (0.511, -0.073, 0.139) +# Plug world rotation = quat_mul(socket_rot, PLUG_GOAL_ROT) = 180° around Y. +_PLUG_ROT = (0.0, 1.0, 0.0, 0.0) + ## # Pre-defined configs ## @@ -156,10 +178,8 @@ class TerminationsCfg: "plug_asset_cfg": SceneEntityCfg("gb300_plug"), "distance_threshold": 0.15, "end_effector_body_name": "link7", - # grasp_offset/grasp_rot_offset are populated in __post_init__ to keep - # them in sync with the IK grasp-pose configuration. - "grasp_offset": [0.0, 0.0, -0.13], - "grasp_rot_offset": [-0.70711, 0.70711, 0.0, 0.0], + "grasp_offset": [0.0, 0.0, 0.0], + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], }, ) @@ -172,7 +192,7 @@ class TerminationsCfg: "pitch_threshold_deg": 15.0, "yaw_threshold_deg": 180.0, "end_effector_body_name": "link7", - "grasp_rot_offset": [-0.70711, 0.70711, 0.0, 0.0], + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], }, ) @@ -186,27 +206,12 @@ def __post_init__(self): self.end_effector_body_name = "link7" self.num_arm_joints = 7 - # ``grasp_offset`` is the offset from the plug body origin to ``link7`` expressed - # in the rotated plug frame (after applying ``grasp_rot_offset``). With the - # FLATTENED plug USD the visible/collidable mesh is centred on the rigid-body - # origin (``bbox_center_local = (0, 0, 0)``; verified via - # ``scripts/tools/inspect_cable_usd_kit.py``), so ``grasp_offset`` only needs - # to back the gripper off by the gripper tool length so that the fingertips - # end up exactly at the plug body origin (= visible mesh centre). - # - # Grav tool length: the IsaacLab Nucleus ``rizon4s_with_grav.usd`` has - # ``link7 -> fingertip = 0.13 m`` (verified empirically: with the un-flattened - # plug + the (now-removed) bbox-compensated ``grasp_offset``, the IK ended up - # placing ``link7`` exactly ``0.13 m`` above the plug body origin; the - # gear-assembly task uses ``-0.35 m`` here because its target is the top of - # the 0.22 m gear shaft, so 0.35 = 0.22 + 0.13). - # - # ``grasp_rot_offset = R_x(-90 deg)`` matches the gear-assembly task; combined - # with the plug's identity ``init_state.rot``, ``link7`` ends up pointing - # straight down (gripper finger axis perpendicular to the plug's long body Y - # axis, so the fingers can clamp the plug's narrow body X axis = 1.18 cm). - self.grasp_offset = [0.0, 0.0, -0.13] - self.grasp_rot_offset = [-0.70711, 0.70711, 0.0, 0.0] + # grasp_offset: position of link7 in the plug's local frame when + # properly grasped. z = -0.35 matches the gear assembly's + # link7-to-fingertip calibration; x/y from GB300Plug.grasp_pos. + self.grasp_offset = [0.03, 0.002, -0.35] + # Identity: the target EEF orientation equals the plug orientation. + self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] self.gripper_joint_setter_func = set_finger_joint_pos_grav self.plug_orientation_roll_threshold_deg = 15.0 @@ -311,47 +316,33 @@ def __post_init__(self): damping=0.0, ) - # Override plug/socket positions to match the gear-assembly Flexiv workspace - # layout. Socket = gear_base (fixed insertion target). Plug = gear (held - # object, offset above socket so it can be inserted downward). - # - # Both assets use IDENTITY rotation -- the FLATTENED USDs already align the - # collidable mesh long axis with body Y and the insertion axis with body Z. - # The plug spawn pose only seeds the IK target; after IK, - # :class:`mdp.set_robot_to_object_grasp_pose` snaps the plug to the achieved - # gripper pose so any small spawn-pose error is washed out. + # Override plug/socket positions to match the gear assembly Flexiv workspace. + # Socket root is placed so that the insertion geometry lands at _GEAR_BASE_POS, + # using the same −90° Z rotation as the gear base. self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=(0.481, -0.073, 0.071), - rot=(0.0, 0.0, 0.0, 1.0), + pos=_SOCKET_ROOT, + rot=_SOCKET_ROT, ) # Plug ~5 cm above the socket so the policy has room to descend during # insertion. With grasp_offset = (0, 0, -0.13) and identity plug rotation, # link7 ends up at plug_pos + (0, 0, 0.13) and the fingertips at plug_pos. self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=(0.481, -0.073, 0.121), - rot=(0.0, 0.0, 0.0, 1.0), + pos=_PLUG_ROOT, + rot=_PLUG_ROT, ) - # Grav gripper joint convention (per ``FLEXIV_RIZON4S_GRAV_GRIPPER_CFG``): - # ``+0.785 rad (45 deg)`` fully open, ``-0.155 rad (-8.88 deg)`` fully - # closed. - # The flattened plug body is ~11.8 mm wide along the squeeze axis (body X, - # per the USD bbox). At the reset, ``hand_grasp_width=0.05 rad`` opens the - # fingers to ~16 mm so the plug fits between them; the drive is then - # commanded to close to ``hand_close_width=0.0 rad`` (matching the - # gear-assembly small-gear close width). At ``0.0`` the fingers would meet - # if unobstructed, but the plug stops them via collision and the drive - # applies a steady squeeze (200 N -> ~80 N at the fingertips, plenty for a - # 19 g plug). Using the hard-close limit ``-0.155`` was tried previously - # and ejected the plug because the drive over-commanded the fingers. - self.hand_grasp_width = 0.05 - self.hand_close_width = 0.0 + # Grasp widths for the Grav gripper (matching IsaacLab_UR defaults). + # ``hand_grasp_width`` opens fingers for the plug (0.3 rad ≈ 17°), + # ``hand_close_width`` fully closes to hold it (-0.155 rad ≈ -8.9°). + self.hand_grasp_width = 0.3 + self.hand_close_width = -0.155 self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py index 5be0fc2de691..0e05685ceb0a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py @@ -10,6 +10,25 @@ from .joint_pos_env_cfg import Rizon4sGravCableInsertionEnvCfg +# --------------------------------------------------------------------------- +# Hubble Lab socket/plug positions (same −90° Z rotation as training config) +# --------------------------------------------------------------------------- +# Desired socket-geometry position for the Hubble Lab workspace. +_HUBBLE_GEOMETRY_POS = (0.6, 0.0, -0.15) +_HUBBLE_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) + +# R_z(−90°) @ SOCKET_INSERTION_OFFSET = [0.5347, −0.0254, 0.0543] +_HUBBLE_SOCKET_ROOT = ( + _HUBBLE_GEOMETRY_POS[0] - 0.5347, + _HUBBLE_GEOMETRY_POS[1] + 0.0254, + _HUBBLE_GEOMETRY_POS[2] - 0.0543, +) + +# Plug root ~0.068 m above the geometry position, world-frame rotation +# = quat_mul(socket_rot, PLUG_GOAL_ROT) = 180° around Y → (0, 1, 0, 0) +_HUBBLE_PLUG_ROOT = (0.631, 0.0, -0.082) +_HUBBLE_PLUG_ROT = (0.0, 1.0, 0.0, 0.0) + @configclass class Rizon4sGravCableInsertionROSInferenceEnvCfg(Rizon4sGravCableInsertionEnvCfg): @@ -51,22 +70,26 @@ def __post_init__(self): "joint7": 0.0, } - # Wall-mount quaternion (w, x, y, z) = (0.5, 0.5, 0.5, 0.5): - # 90° rotation about negative X-axis (matches Hubble Lab Flexiv Rizon 4s mount). + # Orientation of robot is based on the Flexiv Rizon 4s mount in the Hubble Lab self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) - # Override plug and socket initial poses for ROS inference (fixed, deterministic) + # Socket/plug positions account for GB300 USD root-to-geometry offset. + # Same −90° Z rotation as the training config. self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=(-0.6, -0.4, 0.1), - rot=(0.0, 0.0, 0.0, 1.0), + pos=_HUBBLE_SOCKET_ROOT, + rot=_HUBBLE_SOCKET_ROT, ) self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=(-0.6, -0.4, 0.1), - rot=(0.0, 0.0, 0.0, 1.0), + pos=_HUBBLE_PLUG_ROOT, + rot=_HUBBLE_PLUG_ROT, ) + # Increase IK iterations for the grasp event — the Hubble home pose is + # further from typical IK solutions than the table-mount default. + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + # Fixed asset parameters for ROS inference - derived from configuration self.fixed_asset_init_pos_center = list(self.scene.gb300_socket.init_state.pos) @@ -76,7 +99,7 @@ def __post_init__(self): pose_range["y"][1], pose_range["z"][1], ] - self.fixed_asset_init_orn_deg = [0.0, 0.0, 0.0] + self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] self.fixed_asset_init_orn_deg_range = [ math.degrees(pose_range["roll"][1]), math.degrees(pose_range["pitch"][1]), From 5145ab25243cabb2ec5a9947f66d04213daaf5d8 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 5 May 2026 10:04:20 -0700 Subject: [PATCH 07/65] Fixed plug grasp issues. --- .../contrib/deploy/mdp/events.py | 19 +++++++------ .../config/rizon_4s/joint_pos_env_cfg.py | 28 ++++++++++++------- 2 files changed, 29 insertions(+), 18 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index 82adc96fcbd6..a324743aef42 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -567,6 +567,10 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): self.hand_grasp_width = env.cfg.hand_grasp_width self.hand_close_width = env.cfg.hand_close_width + # hand_hold_width: joint angle where fingers just touch the held object + # surface. Written as the physical STATE so there is no mesh overlap. + # Falls back to hand_close_width when not set (original behaviour). + self.hand_hold_width = getattr(env.cfg, "hand_hold_width", self.hand_close_width) eef_indices, _ = self.robot_asset.find_bodies([self.end_effector_body_name]) if len(eef_indices) == 0: @@ -757,19 +761,18 @@ def __call__( joint_vel = torch.zeros_like(wp.to_torch(self.robot_asset.data.joint_vel)[env_ids]) joint_pos = wp.to_torch(self.robot_asset.data.joint_pos)[env_ids].clone() + # Write the gripper STATE at ``hand_hold_width`` (fingers just touching the + # object surface, no mesh overlap) and set the TARGET to + # ``hand_close_width`` (fully closed) so the actuator drive squeezes. + # This two-level approach mirrors IsaacLab_UR which writes + # ``gripper_close_joint_pos`` (from plug diameter) as state and + # ``gripper_close_joint_pos_target`` (from close_gripper_width) as target. self.gripper_joint_setter_func( - joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_grasp_width + joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_hold_width ) - - self.robot_asset.set_joint_position_target_index(target=joint_pos, joint_ids=self.all_joints, env_ids=env_ids) self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) - # Drive the fingers toward ``hand_close_width`` but DO NOT write the joint state. - # The drive applies a closing torque; the held object stops the fingers via - # collision, producing a steady squeeze. Writing the joint state here would - # snap the fingers through the object and eject it on the next physics step - # (matches the gear-assembly :class:`set_robot_to_grasp_pose` pattern). self.gripper_joint_setter_func( joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_close_width ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py index 42d49295955d..88327dd63e3b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py @@ -204,12 +204,16 @@ class Rizon4sGravCableInsertionEnvCfg(CableInsertionEnvCfg): def __post_init__(self): super().__post_init__() - self.end_effector_body_name = "link7" + # Target the flange body (not link7) to match IsaacLab_UR's + # eef_frame='flange'. This avoids guessing the unknown + # link7-to-fingertip distance and uses the calibrated + # flange-to-fingertip value from gripper_eef_pos_local instead. + self.end_effector_body_name = "flange" self.num_arm_joints = 7 - # grasp_offset: position of link7 in the plug's local frame when - # properly grasped. z = -0.35 matches the gear assembly's - # link7-to-fingertip calibration; x/y from GB300Plug.grasp_pos. - self.grasp_offset = [0.03, 0.002, -0.35] + # grasp_offset: flange position in the plug's local frame. + # Derived from IsaacLab_UR: grasp_pos[z]=-0.014 minus + # gripper_eef_pos_local[z]=0.1925 → -0.2065 ≈ -0.207. + self.grasp_offset = [0.03, 0.002, -0.207] # Identity: the target EEF orientation equals the plug orientation. self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] self.gripper_joint_setter_func = set_finger_joint_pos_grav @@ -323,18 +327,22 @@ def __post_init__(self): pos=_SOCKET_ROOT, rot=_SOCKET_ROT, ) - # Plug ~5 cm above the socket so the policy has room to descend during - # insertion. With grasp_offset = (0, 0, -0.13) and identity plug rotation, - # link7 ends up at plug_pos + (0, 0, 0.13) and the fingertips at plug_pos. + # Plug ~0.068 m above the socket insertion point (matching gear z-offset). self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( pos=_PLUG_ROOT, rot=_PLUG_ROT, ) # Grasp widths for the Grav gripper (matching IsaacLab_UR defaults). - # ``hand_grasp_width`` opens fingers for the plug (0.3 rad ≈ 17°), - # ``hand_close_width`` fully closes to hold it (-0.155 rad ≈ -8.9°). + # ``hand_grasp_width`` opens fingers wide for approaching. + # ``hand_hold_width`` is the angle where fingers just touch the plug + # surface (no mesh overlap). Computed from plug grasp_width=0.006 m + # via the Grav linear mapping: + # -0.155 + (0.7854+0.155)*0.006/0.075 ≈ -0.08 + # ``hand_close_width`` is the fully-closed target that the actuator + # drives toward, creating a squeeze via collision. self.hand_grasp_width = 0.3 + self.hand_hold_width = -0.08 self.hand_close_width = -0.155 self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name From d0041172a8a013ccd0d14e2a31f612dbbe1c98a3 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 5 May 2026 10:30:45 -0700 Subject: [PATCH 08/65] Fixed sim rendering settings. --- .../deploy/cable_insertion/cable_insertion_env_cfg.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py index 2c62fc30d8a3..1533a124efcb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py @@ -36,7 +36,7 @@ # origin (as in the un-flattened source USDs), the fingertips end up beside the # plug rather than around it, the gripper closes on empty space, and the plug # slides out (which is what we observed in the un-flattened smoke tests). -ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets", "flattened") +ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets") # --------------------------------------------------------------------------- # USD body-frame offsets (from IsaacLab_UR GB300AssetConfig) @@ -291,6 +291,6 @@ def __post_init__(self): """Post initialization.""" self.episode_length_s = 6.66 self.viewer.eye = (3.5, 3.5, 3.5) - self.decimation = 33 + self.decimation = 8 self.sim.render_interval = self.decimation - self.sim.dt = 1.0 / 1000.0 + self.sim.dt = 1.0 / 240.0 From df3d1b29a1d03f6c484d9e2abd2697e7a4343b71 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 5 May 2026 18:05:28 -0700 Subject: [PATCH 09/65] Env fixes as per working version like moving to task space, param value changes, etc. --- .../contrib/deploy/mdp/__init__.pyi | 8 + .../contrib/deploy/mdp/events.py | 127 +++++- .../contrib/deploy/mdp/observations.py | 125 +++++- .../cable_insertion_env_cfg.py | 117 +++-- .../config/rizon_4s/__init__.py | 30 ++ .../config/rizon_4s/joint_pos_env_cfg.py | 89 ++-- .../config/rizon_4s/ros_inference_env_cfg.py | 28 +- .../config/rizon_4s/task_space_env_cfg.py | 425 ++++++++++++++++++ .../task_space_ros_inference_env_cfg.py | 111 +++++ 9 files changed, 953 insertions(+), 107 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi index 35289bcc8f84..c564d4b96af2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi @@ -8,6 +8,7 @@ __all__ = [ "randomize_gears_and_base_pose", "set_robot_to_grasp_pose", "set_robot_to_object_grasp_pose", + "reset_plug_at_goal_curriculum", "ResetSampledConstantNoiseModel", "ResetSampledConstantNoiseModelCfg", "gear_pos_w", @@ -16,6 +17,9 @@ __all__ = [ "gear_shaft_quat_w", "rigid_object_pos_w", "rigid_object_quat_w", + "rigid_object_rot_6d_w", + "eef_pos_w", + "eef_rot_6d_w", "keypoint_command_error", "keypoint_command_error_exp", "keypoint_entity_error", @@ -35,6 +39,7 @@ from .events import ( randomize_gears_and_base_pose, set_robot_to_grasp_pose, set_robot_to_object_grasp_pose, + reset_plug_at_goal_curriculum, ) from .noise_models import ResetSampledConstantNoiseModel, ResetSampledConstantNoiseModelCfg from .observations import ( @@ -44,6 +49,9 @@ from .observations import ( gear_shaft_quat_w, rigid_object_pos_w, rigid_object_quat_w, + rigid_object_rot_6d_w, + eef_pos_w, + eef_rot_6d_w, ) from .rewards import ( keypoint_command_error, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index a324743aef42..1f590d92b73b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Class-based event terms specific to the gear assembly manipulation environments.""" +"""Class-based event terms for manipulation deployment environments.""" from __future__ import annotations @@ -714,9 +714,8 @@ def __call__( # Snap the held object to the achieved gripper pose so the gripper actually # holds it after closing. Without this, any IK residual error or USD # geometry offset leaves the object outside the finger gap and gravity drops - # it. Mirrors the reference behaviour in - # ``IsaacLab_UR/tasks/insert/env.py::_reset_objects`` which writes - # ``held_asset_pose = achieved_hand_pose * inv(grasp_in_asset_pose)``. + # Snap the held object to the achieved gripper pose so the gripper + # actually holds it after closing. held_object = env.scene[self.target_object_name] achieved_hand_pos = wp.to_torch(self.robot_asset.data.body_pos_w)[env_ids, self.eef_idx].clone() achieved_hand_quat = wp.to_torch(self.robot_asset.data.body_quat_w)[env_ids, self.eef_idx].clone() @@ -761,12 +760,9 @@ def __call__( joint_vel = torch.zeros_like(wp.to_torch(self.robot_asset.data.joint_vel)[env_ids]) joint_pos = wp.to_torch(self.robot_asset.data.joint_pos)[env_ids].clone() - # Write the gripper STATE at ``hand_hold_width`` (fingers just touching the - # object surface, no mesh overlap) and set the TARGET to - # ``hand_close_width`` (fully closed) so the actuator drive squeezes. - # This two-level approach mirrors IsaacLab_UR which writes - # ``gripper_close_joint_pos`` (from plug diameter) as state and - # ``gripper_close_joint_pos_target`` (from close_gripper_width) as target. + # Write gripper STATE at ``hand_hold_width`` (fingers just touching the + # plug, no mesh overlap) and set the TARGET to ``hand_close_width`` + # (fully closed) so the actuator drive squeezes around the plug. self.gripper_joint_setter_func( joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_hold_width ) @@ -777,3 +773,114 @@ def __call__( joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_close_width ) self.robot_asset.set_joint_position_target_index(target=joint_pos, joint_ids=self.all_joints, env_ids=env_ids) + + +class reset_plug_at_goal_curriculum(ManagerTermBase): + """Reset a fraction of plugs at the goal position (at-goal curriculum). + + For each reset batch, a fraction ``at_goal_prob`` of environments have the + plug placed along the insertion axis at a random depth (from socket opening + to full insertion) with goal orientation. The remaining environments get + normal pose randomization. + + This replaces the simple ``reset_root_state_uniform`` for the plug when + curriculum-based training is desired. + """ + + def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + self.plug: RigidObject = env.scene[cfg.params["plug_cfg"].name] + self.socket: RigidObject = env.scene[cfg.params["socket_cfg"].name] + + self.at_goal_prob: float = cfg.params.get("at_goal_prob", 0.8) + + insertion_axis = cfg.params.get("insertion_axis", [0.0, 0.0, 1.0]) + self.insertion_axis = torch.tensor(insertion_axis, device=env.device, dtype=torch.float32) + self.insertion_axis = self.insertion_axis / self.insertion_axis.norm() + + self.insertion_length: float = cfg.params.get("insertion_length", 0.02) + + socket_offset = cfg.params.get("socket_insertion_offset", [0.0, 0.0, 0.0]) + self.socket_insertion_offset = torch.tensor(socket_offset, device=env.device, dtype=torch.float32) + + plug_offset = cfg.params.get("plug_insertion_offset", [0.0, 0.0, 0.0]) + self.plug_insertion_offset = torch.tensor(plug_offset, device=env.device, dtype=torch.float32) + + goal_rot = cfg.params.get("goal_rot", [0.0, 0.0, 0.0, 1.0]) + self.goal_rot = torch.tensor(goal_rot, device=env.device, dtype=torch.float32) + + self.normal_pose_range: dict = cfg.params.get("normal_pose_range", {}) + + self.identity_quat = torch.tensor( + [0.0, 0.0, 0.0, 1.0], device=env.device, dtype=torch.float32 + ) + + def __call__( + self, + env: ManagerBasedEnv, + env_ids: torch.Tensor, + plug_cfg: SceneEntityCfg | None = None, + socket_cfg: SceneEntityCfg | None = None, + at_goal_prob: float = 0.8, + insertion_axis: list | None = None, + insertion_length: float = 0.02, + socket_insertion_offset: list | None = None, + plug_insertion_offset: list | None = None, + goal_rot: list | None = None, + normal_pose_range: dict | None = None, + ): + num_envs = len(env_ids) + + socket_pos = wp.to_torch(self.socket.data.root_pos_w)[env_ids] + socket_quat = wp.to_torch(self.socket.data.root_quat_w)[env_ids] + + # Compute socket keypoint origin in world frame + socket_offset_batch = self.socket_insertion_offset.unsqueeze(0).expand(num_envs, -1) + id_quat_batch = self.identity_quat.unsqueeze(0).expand(num_envs, -1) + kp_origin_w, _ = math_utils.combine_frame_transforms( + socket_pos, socket_quat, socket_offset_batch, id_quat_batch, + ) + + # Insertion axis in world frame (rotated by socket orientation) + insertion_axis_w = math_utils.quat_apply(socket_quat, self.insertion_axis.unsqueeze(0).expand(num_envs, -1)) + + # Goal plug orientation in world frame + goal_quat_w = math_utils.quat_mul(socket_quat, self.goal_rot.unsqueeze(0).expand(num_envs, -1)) + + # Plug keypoint offset rotated into world frame (for converting kp pos -> root pos) + plug_offset_batch = self.plug_insertion_offset.unsqueeze(0).expand(num_envs, -1) + plug_kp_in_world = math_utils.quat_apply(goal_quat_w, plug_offset_batch) + + # Default (normal) reset: small random perturbation around default plug pose + pose_range = self.normal_pose_range + rand_pos = torch.zeros(num_envs, 3, device=env.device) + for i, key in enumerate(["x", "y", "z"]): + rng = pose_range.get(key, [0.0, 0.0]) + rand_pos[:, i] = torch.empty(num_envs, device=env.device).uniform_(rng[0], rng[1]) + + default_plug_pos = wp.to_torch(self.plug.data.default_root_state)[env_ids, :3] + env.scene.env_origins[env_ids] + normal_plug_pos = default_plug_pos + rand_pos + normal_plug_quat = wp.to_torch(self.plug.data.default_root_state)[env_ids, 3:7] + + plug_pos = normal_plug_pos.clone() + plug_quat = normal_plug_quat.clone() + + # At-goal curriculum: place fraction of envs along insertion axis + if self.at_goal_prob > 0.0 and num_envs > 0: + num_at_goal = int(num_envs * self.at_goal_prob) + if num_at_goal > 0: + perm = torch.randperm(num_envs, device=env.device) + at_goal_local = perm[:num_at_goal] + + depth_rand = torch.rand(num_at_goal, 1, device=env.device) + goal_kp_pos = kp_origin_w[at_goal_local] + depth_rand * insertion_axis_w[at_goal_local] * self.insertion_length + + # Convert keypoint position to plug root position + plug_pos[at_goal_local] = goal_kp_pos - plug_kp_in_world[at_goal_local] + plug_quat[at_goal_local] = goal_quat_w[at_goal_local] + + new_root_pose = torch.cat([plug_pos, plug_quat], dim=-1) + zero_vel = torch.zeros(num_envs, 6, device=env.device, dtype=torch.float32) + self.plug.write_root_pose_to_sim(new_root_pose, env_ids=env_ids) + self.plug.write_root_velocity_to_sim(zero_vel, env_ids=env_ids) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py index 0cb6fcfe9e01..4a2c7e22e4b5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Class-based observation terms for the gear assembly manipulation environment.""" +"""Class-based observation terms for manipulation deployment environments.""" from __future__ import annotations @@ -12,10 +12,10 @@ import torch from isaaclab.managers import ManagerTermBase, ObservationTermCfg, SceneEntityCfg -from isaaclab.utils.math import combine_frame_transforms +from isaaclab.utils.math import combine_frame_transforms, matrix_from_quat if TYPE_CHECKING: - from isaaclab.assets import RigidObject + from isaaclab.assets import Articulation, RigidObject from isaaclab.envs import ManagerBasedRLEnv from .events import randomize_gear_type @@ -425,3 +425,122 @@ def __call__( positive_quat[w_negative] = -obj_quat[w_negative] return positive_quat + + +def _quat_to_rot_6d(quat: torch.Tensor) -> torch.Tensor: + """Convert quaternion (x, y, z, w) to 6D rotation (Zhou et al.). + + Takes the first two rows of the 3x3 rotation matrix and flattens + them into a 6-element vector per sample. + + Args: + quat: Quaternion tensor of shape ``(..., 4)`` in ``(x, y, z, w)`` format. + + Returns: + 6D rotation tensor of shape ``(..., 6)``. + """ + rot_mat = matrix_from_quat(quat) + batch_shape = rot_mat.shape[:-2] + return rot_mat[..., :2, :].clone().reshape(batch_shape + (6,)) + + +class rigid_object_rot_6d_w(ManagerTermBase): + """Rigid object 6D rotation in the world frame (Zhou et al.). + + Returns the first two rows of the 3x3 rotation matrix derived from + the object's root quaternion, giving a continuous 6D rotation + representation that avoids quaternion discontinuities. + + Args: + asset_cfg: The asset configuration. Required. + + Returns: + 6D rotation tensor, shape ``[num_envs, 6]``. + """ + + def __init__(self, cfg: ObservationTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + if "asset_cfg" not in cfg.params: + raise ValueError("'asset_cfg' parameter is required in rigid_object_rot_6d_w configuration.") + self.asset_cfg: SceneEntityCfg = cfg.params["asset_cfg"] + self.asset: RigidObject = env.scene[self.asset_cfg.name] + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg: SceneEntityCfg | None = None, + ) -> torch.Tensor: + obj_quat = wp.to_torch(self.asset.data.root_quat_w) + return _quat_to_rot_6d(obj_quat) + + +class eef_pos_w(ManagerTermBase): + """End-effector position in the environment frame. + + Gets the position of a specified body on a robot articulation and + returns it relative to the environment origin. + + Args: + asset_cfg: The robot articulation configuration. Required. + body_name: Name of the end-effector body link. Required. + + Returns: + EEF position tensor, shape ``[num_envs, 3]`` [m]. + """ + + def __init__(self, cfg: ObservationTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + if "asset_cfg" not in cfg.params: + raise ValueError("'asset_cfg' parameter is required in eef_pos_w configuration.") + if "body_name" not in cfg.params: + raise ValueError("'body_name' parameter is required in eef_pos_w configuration.") + + self.asset_cfg: SceneEntityCfg = cfg.params["asset_cfg"] + self.robot: Articulation = env.scene[self.asset_cfg.name] + self.body_name: str = cfg.params["body_name"] + self.body_idx = self.robot.find_bodies(self.body_name)[0][0] + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg: SceneEntityCfg | None = None, + body_name: str | None = None, + ) -> torch.Tensor: + body_pos = wp.to_torch(self.robot.data.body_pos_w)[:, self.body_idx, :] + return body_pos - env.scene.env_origins + + +class eef_rot_6d_w(ManagerTermBase): + """End-effector 6D rotation in the world frame (Zhou et al.). + + Gets the quaternion of a specified body on a robot articulation and + converts it to a continuous 6D rotation representation. + + Args: + asset_cfg: The robot articulation configuration. Required. + body_name: Name of the end-effector body link. Required. + + Returns: + 6D rotation tensor, shape ``[num_envs, 6]``. + """ + + def __init__(self, cfg: ObservationTermCfg, env: ManagerBasedRLEnv): + super().__init__(cfg, env) + if "asset_cfg" not in cfg.params: + raise ValueError("'asset_cfg' parameter is required in eef_rot_6d_w configuration.") + if "body_name" not in cfg.params: + raise ValueError("'body_name' parameter is required in eef_rot_6d_w configuration.") + + self.asset_cfg: SceneEntityCfg = cfg.params["asset_cfg"] + self.robot: Articulation = env.scene[self.asset_cfg.name] + self.body_name: str = cfg.params["body_name"] + self.body_idx = self.robot.find_bodies(self.body_name)[0][0] + + def __call__( + self, + env: ManagerBasedRLEnv, + asset_cfg: SceneEntityCfg | None = None, + body_name: str | None = None, + ) -> torch.Tensor: + body_quat = wp.to_torch(self.robot.data.body_quat_w)[:, self.body_idx, :] + return _quat_to_rot_6d(body_quat) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py index 1533a124efcb..b3e17a3e33eb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py @@ -27,52 +27,95 @@ from isaaclab_tasks.manager_based.manipulation.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg CONFIG_DIR = os.path.dirname(os.path.abspath(__file__)) -# Use the FLATTENED USDs (produced by ``scripts/tools/flatten_cable_usd.py``). -# Flattening bakes any per-prim ``xformOp`` translations/rotations into the mesh -# vertices and recentres the collidable mesh so that ``bbox_center == (0, 0, 0)`` -# in the rigid-body frame. This is required for stable grasping because the -# IK-based grasp event places the gripper at the rigid-body origin via -# ``grasp_offset`` -- if the visible/collision mesh is offset from the body -# origin (as in the un-flattened source USDs), the fingertips end up beside the -# plug rather than around it, the gripper closes on empty space, and the plug -# slides out (which is what we observed in the un-flattened smoke tests). ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets") # --------------------------------------------------------------------------- -# USD body-frame offsets (from IsaacLab_UR GB300AssetConfig) +# USD body-frame offsets (GB300 asset geometry) # --------------------------------------------------------------------------- # The GB300 socket/plug USD root frames are far from the actual insertion -# geometry. These constants map root → insertion point in each asset's +# geometry. These constants map root -> insertion point in each asset's # local frame and are used for observations, rewards, and computing the # correct root positions so the geometry ends up at the desired workspace # location. -# -# Socket: gear_offsets['plug'] from GB300Socket — root to insertion slot. SOCKET_INSERTION_OFFSET = [0.0254, 0.5347, 0.0543] -# Plug: held_keypoint_origin_local ≈ R(goal_rot_inv) @ (gear_offsets - goal_pos). PLUG_INSERTION_OFFSET = [0.03, 0.0, 0.0] -# Plug goal rotation relative to socket: euler(180, 0, -90) deg in (x,y,z,w). +# Plug goal rotation relative to socket: euler(180, 0, -90) deg as (x,y,z,w). PLUG_GOAL_ROT = [0.70711, -0.70711, 0.0, 0.0] -# Its inverse (conjugate), used for keypoint alignment in rewards. PLUG_GOAL_ROT_INV = [-0.70711, 0.70711, 0.0, 0.0] + +# --------------------------------------------------------------------------- +# Pure-python quaternion helpers (for module-level constant computation) +# --------------------------------------------------------------------------- + +def _quat_rotate_vec(q_xyzw, v): + """Apply quaternion rotation to a 3D vector.""" + qx, qy, qz, qw = q_xyzw + vx, vy, vz = v + tx = 2.0 * (qy * vz - qz * vy) + ty = 2.0 * (qz * vx - qx * vz) + tz = 2.0 * (qx * vy - qy * vx) + return ( + vx + qw * tx + qy * tz - qz * ty, + vy + qw * ty + qz * tx - qx * tz, + vz + qw * tz + qx * ty - qy * tx, + ) + + +def _quat_mul(q1_xyzw, q2_xyzw): + """Multiply two quaternions in (x, y, z, w) format.""" + x1, y1, z1, w1 = q1_xyzw + x2, y2, z2, w2 = q2_xyzw + return ( + w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, + w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, + w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, + w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, + ) + + +def compute_socket_root(geometry_pos, socket_rot): + """Compute socket USD root position from desired insertion-geometry world position. + + The GB300 socket USD root frame is offset from the actual insertion + geometry by ``SOCKET_INSERTION_OFFSET`` in the socket's local frame. + This function inverts that offset for a given world-frame socket rotation. + """ + rotated = _quat_rotate_vec(socket_rot, SOCKET_INSERTION_OFFSET) + return ( + geometry_pos[0] - rotated[0], + geometry_pos[1] - rotated[1], + geometry_pos[2] - rotated[2], + ) + + +def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): + """Compute plug USD root position and world-frame rotation. + + Returns ``(plug_root_pos, plug_rot)`` such that the plug insertion + point lands at ``geometry_pos`` (plus optional vertical clearance) + with the correct goal orientation relative to the socket. + """ + plug_rot = _quat_mul(socket_rot, tuple(PLUG_GOAL_ROT)) + plug_offset_world = _quat_rotate_vec(plug_rot, PLUG_INSERTION_OFFSET) + plug_root = ( + geometry_pos[0] - plug_offset_world[0], + geometry_pos[1] - plug_offset_world[1], + geometry_pos[2] - plug_offset_world[2] + z_clearance, + ) + return plug_root, plug_rot + + # --------------------------------------------------------------------------- -# Default socket/plug workspace positions (identity socket rotation) +# Default socket/plug workspace positions (identity socket rotation) # --------------------------------------------------------------------------- -# Desired insertion-point position in world frame. The socket ROOT is -# placed so that root + SOCKET_INSERTION_OFFSET lands here. _INSERTION_POINT = [0.5, 0.0, 0.0] -# socket_root = insertion_point - R(identity) @ SOCKET_INSERTION_OFFSET -_SOCKET_ROOT_POS = ( - _INSERTION_POINT[0] - SOCKET_INSERTION_OFFSET[0], - _INSERTION_POINT[1] - SOCKET_INSERTION_OFFSET[1], - _INSERTION_POINT[2] - SOCKET_INSERTION_OFFSET[2], +_DEFAULT_SOCKET_ROT = (0.0, 0.0, 0.0, 1.0) + +_SOCKET_ROOT_POS = compute_socket_root(_INSERTION_POINT, _DEFAULT_SOCKET_ROT) +_PLUG_ROOT_POS, _DEFAULT_PLUG_ROT = compute_plug_pose( + _INSERTION_POINT, _DEFAULT_SOCKET_ROT, z_clearance=0.033, ) -# Plug root at ~3 cm above the goal state (enough clearance for robot to -# grasp before insertion). Computed from IsaacLab_UR _reset_objects logic: -# gear_center_rel = kp_origin + insertion_axis*(base_h+h) + held_init_pos -# plug_root = socket_root + gear_center_rel - R(goal_rot) @ plug_kp_local -_PLUG_ROOT_POS = (0.5, 0.03, 0.033) ## # Asset Configurations @@ -100,7 +143,7 @@ class GB300Plug(RigidObjectCfg): solver_velocity_iteration_count=1, max_contact_impulse=1e32, ), - mass_props=sim_utils.MassPropertiesCfg(mass=0.019), + mass_props=sim_utils.MassPropertiesCfg(mass=0.05), collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=PLUG_GOAL_ROT) @@ -255,7 +298,7 @@ class RewardsCfg: "offset_1": SOCKET_INSERTION_OFFSET, "offset_2": PLUG_INSERTION_OFFSET, "rot_offset_2": PLUG_GOAL_ROT_INV, - "kp_exp_coeffs": [(10, 0.0001), (50, 0.0001), (150, 0.0001), (300, 0.0001)], + "kp_exp_coeffs": [(50, 0.0001), (300, 0.0001), (600, 0.0001)], "kp_use_sum_of_exps": False, "keypoint_scale": 0.15, }, @@ -263,6 +306,8 @@ class RewardsCfg: action_rate = RewTerm(func=mdp.action_rate_l2, weight=-5.0e-06) + # action_l2 = RewTerm(func=mdp.action_l2, weight=-5.0e-06) + @configclass class TerminationsCfg: @@ -280,7 +325,17 @@ class CableInsertionEnvCfg(ManagerBasedRLEnvCfg): terminations: TerminationsCfg = TerminationsCfg() events: EventCfg = EventCfg() sim: SimulationCfg = SimulationCfg( + physics_material=sim_utils.RigidBodyMaterialCfg( + friction_combine_mode="multiply", + restitution_combine_mode="multiply", + static_friction=1.0, + dynamic_friction=1.0, + restitution=0.0, + ), physics=PhysxCfg( + bounce_threshold_velocity=0.2, + friction_offset_threshold=0.01, + friction_correlation_distance=0.00625, gpu_collision_stack_size=2**30, gpu_max_rigid_contact_count=2**23, gpu_max_rigid_patch_count=2**23, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py index 7da920402b59..0968f9c38d13 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py @@ -40,3 +40,33 @@ "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", }, ) + +gym.register( + id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-TaskSpace-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceCableInsertionEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-TaskSpace-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceCableInsertionEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-TaskSpace-ROS-Inference-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.task_space_ros_inference_env_cfg:Rizon4sTaskSpaceCableInsertionROSInferenceEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py index 88327dd63e3b..40b9e32a4d9e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py @@ -17,29 +17,21 @@ import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( CableInsertionEnvCfg, + compute_plug_pose, + compute_socket_root, ) # --------------------------------------------------------------------------- -# Flexiv workspace layout (matches gear assembly from ashwinvk/hubble-gear-position-1) +# Flexiv workspace layout (Hubble Lab cable insertion station) # --------------------------------------------------------------------------- -# Desired socket-geometry position (same as gear base in the gear assembly task). -_GEAR_BASE_POS = (0.481, -0.073, 0.071) -_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) # −90° Z, same as gear base - -# R_z(−90°) @ SOCKET_INSERTION_OFFSET = [0.5347, −0.0254, 0.0543] -# socket_root = geometry_pos − world_offset -_SOCKET_ROOT = ( - _GEAR_BASE_POS[0] - 0.5347, - _GEAR_BASE_POS[1] + 0.0254, - _GEAR_BASE_POS[2] - 0.0543, -) +_GEOMETRY_POS = (0.481, -0.073, 0.071) +_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) # -90 deg Z +_PLUG_CLEARANCE_Z = 0.068 -# Plug root at goal is at socket_root + R(socket_rot)@goal_pos ≈ (0.511, −0.073, 0.071). -# Start the plug ~0.068 m above the insertion point (matching gear z-offset -# range center 0.0675 from the gear assembly). -_PLUG_ROOT = (0.511, -0.073, 0.139) -# Plug world rotation = quat_mul(socket_rot, PLUG_GOAL_ROT) = 180° around Y. -_PLUG_ROT = (0.0, 1.0, 0.0, 0.0) +_SOCKET_ROOT = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) +_PLUG_ROOT, _PLUG_ROT = compute_plug_pose( + _GEOMETRY_POS, _SOCKET_ROT, z_clearance=_PLUG_CLEARANCE_Z, +) ## # Pre-defined configs @@ -103,8 +95,8 @@ class EventCfg: mode="startup", params={ "asset_cfg": SceneEntityCfg("gb300_plug", body_names=".*"), - "static_friction_range": (0.75, 0.75), - "dynamic_friction_range": (0.75, 0.75), + "static_friction_range": (0.1, 0.1), + "dynamic_friction_range": (0.1, 0.1), "restitution_range": (0.0, 0.0), "num_buckets": 16, }, @@ -115,8 +107,8 @@ class EventCfg: mode="startup", params={ "asset_cfg": SceneEntityCfg("gb300_socket", body_names=".*"), - "static_friction_range": (0.0, 0.0), - "dynamic_friction_range": (0.0, 0.0), + "static_friction_range": (0.1, 0.1), + "dynamic_friction_range": (0.1, 0.1), "restitution_range": (0.0, 0.0), "num_buckets": 16, }, @@ -127,8 +119,8 @@ class EventCfg: mode="startup", params={ "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), - "static_friction_range": (3.0, 3.0), - "dynamic_friction_range": (3.0, 3.0), + "static_friction_range": (0.75, 0.75), + "dynamic_friction_range": (0.75, 0.75), "restitution_range": (0.0, 0.0), "num_buckets": 16, }, @@ -141,9 +133,9 @@ class EventCfg: mode="reset", params={ "pose_range": { - "x": [0.0, 0.0], - "y": [0.0, 0.0], - "z": [0.0, 0.0], + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], + "z": [-0.01, 0.01], "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0], @@ -153,6 +145,23 @@ class EventCfg: }, ) + randomize_plug_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [-0.02, 0.02], + "y": [-0.02, 0.02], + "z": [-0.01, 0.01], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], + }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("gb300_plug"), + }, + ) + set_robot_to_grasp_pose = EventTerm( func=mdp.set_robot_to_object_grasp_pose, mode="reset", @@ -204,15 +213,9 @@ class Rizon4sGravCableInsertionEnvCfg(CableInsertionEnvCfg): def __post_init__(self): super().__post_init__() - # Target the flange body (not link7) to match IsaacLab_UR's - # eef_frame='flange'. This avoids guessing the unknown - # link7-to-fingertip distance and uses the calibrated - # flange-to-fingertip value from gripper_eef_pos_local instead. self.end_effector_body_name = "flange" self.num_arm_joints = 7 - # grasp_offset: flange position in the plug's local frame. - # Derived from IsaacLab_UR: grasp_pos[z]=-0.014 minus - # gripper_eef_pos_local[z]=0.1925 → -0.2065 ≈ -0.207. + # Flange position in the plug's local frame. self.grasp_offset = [0.03, 0.002, -0.207] # Identity: the target EEF orientation equals the plug orientation. self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] @@ -302,8 +305,6 @@ def __post_init__(self): ) # Grav gripper actuator configuration (implicit - PhysX built-in joint drives). - # Match gear_assembly Rizon-Grav settings: 2 N*m squeeze is enough to firmly hold - # a 19 g plug between the fingers without overdriving the joint past its limit. self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( joint_names_expr=["finger_joint"], effort_limit_sim=2.0, @@ -320,27 +321,19 @@ def __post_init__(self): damping=0.0, ) - # Override plug/socket positions to match the gear assembly Flexiv workspace. - # Socket root is placed so that the insertion geometry lands at _GEAR_BASE_POS, - # using the same −90° Z rotation as the gear base. self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( pos=_SOCKET_ROOT, rot=_SOCKET_ROT, ) - # Plug ~0.068 m above the socket insertion point (matching gear z-offset). self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( pos=_PLUG_ROOT, rot=_PLUG_ROT, ) - # Grasp widths for the Grav gripper (matching IsaacLab_UR defaults). - # ``hand_grasp_width`` opens fingers wide for approaching. - # ``hand_hold_width`` is the angle where fingers just touch the plug - # surface (no mesh overlap). Computed from plug grasp_width=0.006 m - # via the Grav linear mapping: - # -0.155 + (0.7854+0.155)*0.006/0.075 ≈ -0.08 - # ``hand_close_width`` is the fully-closed target that the actuator - # drives toward, creating a squeeze via collision. + # Grav gripper widths (joint angles). + # grasp: fingers wide open for approach. + # hold: fingers touching plug surface (no mesh overlap). + # close: fully-closed target that the actuator drives toward. self.hand_grasp_width = 0.3 self.hand_hold_width = -0.08 self.hand_close_width = -0.155 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py index 0e05685ceb0a..d2b446cd970e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py @@ -8,27 +8,25 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.utils import configclass +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( + compute_plug_pose, + compute_socket_root, +) + from .joint_pos_env_cfg import Rizon4sGravCableInsertionEnvCfg # --------------------------------------------------------------------------- -# Hubble Lab socket/plug positions (same −90° Z rotation as training config) +# Hubble Lab socket/plug positions (same -90 deg Z rotation as training config) # --------------------------------------------------------------------------- -# Desired socket-geometry position for the Hubble Lab workspace. -_HUBBLE_GEOMETRY_POS = (0.6, 0.0, -0.15) +_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) _HUBBLE_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) +_HUBBLE_PLUG_CLEARANCE_Z = 0.068 -# R_z(−90°) @ SOCKET_INSERTION_OFFSET = [0.5347, −0.0254, 0.0543] -_HUBBLE_SOCKET_ROOT = ( - _HUBBLE_GEOMETRY_POS[0] - 0.5347, - _HUBBLE_GEOMETRY_POS[1] + 0.0254, - _HUBBLE_GEOMETRY_POS[2] - 0.0543, +_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) +_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( + _HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT, z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, ) -# Plug root ~0.068 m above the geometry position, world-frame rotation -# = quat_mul(socket_rot, PLUG_GOAL_ROT) = 180° around Y → (0, 1, 0, 0) -_HUBBLE_PLUG_ROOT = (0.631, 0.0, -0.082) -_HUBBLE_PLUG_ROT = (0.0, 1.0, 0.0, 0.0) - @configclass class Rizon4sGravCableInsertionROSInferenceEnvCfg(Rizon4sGravCableInsertionEnvCfg): @@ -90,8 +88,8 @@ def __post_init__(self): # further from typical IK solutions than the table-mount default. self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - # Fixed asset parameters for ROS inference - derived from configuration - self.fixed_asset_init_pos_center = list(self.scene.gb300_socket.init_state.pos) + # Fixed asset parameters for ROS inference (geometry center, not USD root) + self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) pose_range = self.events.randomize_socket_pose.params["pose_range"] self.fixed_asset_init_pos_range = [ diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py new file mode 100644 index 000000000000..585b5e2954a5 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py @@ -0,0 +1,425 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Task-space cable insertion environment for Flexiv Rizon 4S with Grav Gripper. + +Uses Operational Space Control (OSC) with 6D rotation observations and an +at-goal curriculum. +""" + +import math + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ImplicitActuatorCfg +from isaaclab.assets import ArticulationCfg, RigidObjectCfg +from isaaclab.controllers.operational_space_cfg import OperationalSpaceControllerCfg +from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import ObservationGroupCfg as ObsGroup +from isaaclab.managers import ObservationTermCfg as ObsTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.utils import configclass + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( + PLUG_GOAL_ROT, + PLUG_INSERTION_OFFSET, + SOCKET_INSERTION_OFFSET, + CableInsertionEnvCfg, +) + +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.rizon_4s.joint_pos_env_cfg import ( + _PLUG_ROOT, + _PLUG_ROT, + _SOCKET_ROOT, + _SOCKET_ROT, + set_finger_joint_pos_grav, +) + +# --------------------------------------------------------------------------- +# Rizon 4S arm joint names (convenience) +# --------------------------------------------------------------------------- +_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + +# --------------------------------------------------------------------------- +# OSC gains +# --------------------------------------------------------------------------- +# d_gain = 2 * sqrt(p_gain) * damping_ratio +_STIFFNESS = (300.0, 300.0, 300.0, 30.0, 30.0, 30.0) +_DAMPING_RATIO_TRANS = 35.0 / (2.0 * math.sqrt(300.0)) # ~1.010 +_DAMPING_RATIO_ROT = 1.1 / (2.0 * math.sqrt(30.0)) # ~0.100 +_DAMPING_RATIO = ( + _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, + _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, +) + +# Production action_scale = [0.01]*6 for both position and rotation +_ACTION_SCALE = 0.025 + +# GB300 plug insertion length (height of plug mesh along insertion axis) +_INSERTION_LENGTH = 0.008 + +## +# Pre-defined configs +## +from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip + + +## +# Observation configuration +## + + +@configclass +class TaskSpaceObservationsCfg: + """Task-space observations with 6D rotation representation.""" + + @configclass + class PolicyCfg(ObsGroup): + """Actor observations: EEF pose + socket keypoint frame (18 dims).""" + + eef_pos = ObsTerm( + func=mdp.eef_pos_w, + params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, + ) + eef_rot_6d = ObsTerm( + func=mdp.eef_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, + ) + socket_kp_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, + ) + socket_kp_rot_6d = ObsTerm( + func=mdp.rigid_object_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket")}, + ) + + def __post_init__(self): + self.enable_corruption = False + self.concatenate_terms = True + + @configclass + class CriticCfg(ObsGroup): + """Critic observations: joint state + both keypoint frames (32 dims).""" + + joint_pos = ObsTerm( + func=mdp.joint_pos, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, + ) + joint_vel = ObsTerm( + func=mdp.joint_vel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, + ) + socket_kp_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, + ) + socket_kp_rot_6d = ObsTerm( + func=mdp.rigid_object_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("gb300_socket")}, + ) + plug_kp_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("gb300_plug"), "offset": PLUG_INSERTION_OFFSET}, + ) + plug_kp_rot_6d = ObsTerm( + func=mdp.rigid_object_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("gb300_plug")}, + ) + + policy: PolicyCfg = PolicyCfg() + critic: CriticCfg = CriticCfg() + + +## +# Event configuration +## + + +@configclass +class TaskSpaceEventCfg: + """Events for the task-space cable insertion environment.""" + + plug_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("gb300_plug", body_names=".*"), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + socket_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("gb300_socket", body_names=".*"), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + robot_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), + "static_friction_range": (0.75, 0.75), + "dynamic_friction_range": (0.75, 0.75), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + randomize_socket_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], + "z": [-0.01, 0.01], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], + }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("gb300_socket"), + }, + ) + + reset_plug_curriculum = EventTerm( + func=mdp.reset_plug_at_goal_curriculum, + mode="reset", + params={ + "plug_cfg": SceneEntityCfg("gb300_plug"), + "socket_cfg": SceneEntityCfg("gb300_socket"), + "at_goal_prob": 0.8, + "insertion_axis": [0.0, 0.0, -1.0], + "insertion_length": _INSERTION_LENGTH, + "socket_insertion_offset": SOCKET_INSERTION_OFFSET, + "plug_insertion_offset": PLUG_INSERTION_OFFSET, + "goal_rot": list(PLUG_GOAL_ROT), + "normal_pose_range": { + "x": [-0.02, 0.02], + "y": [-0.02, 0.02], + "z": [-0.01, 0.01], + }, + }, + ) + + set_robot_to_grasp_pose = EventTerm( + func=mdp.set_robot_to_object_grasp_pose, + mode="reset", + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, + "target_object_name": "gb300_plug", + "grasp_offset": [0.0, 0.0, 0.0], + }, + ) + + +## +# Terminations +## + + +@configclass +class TaskSpaceTerminationsCfg: + """Termination terms for the task-space cable insertion.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + plug_dropped = DoneTerm( + func=cable_terminations.reset_when_plug_dropped, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("gb300_plug"), + "distance_threshold": 0.15, + "end_effector_body_name": "link7", + "grasp_offset": [0.0, 0.0, 0.0], + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], + }, + ) + + plug_orientation_exceeded = DoneTerm( + func=cable_terminations.reset_when_plug_orientation_exceeded, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("gb300_plug"), + "roll_threshold_deg": 15.0, + "pitch_threshold_deg": 15.0, + "yaw_threshold_deg": 180.0, + "end_effector_body_name": "link7", + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], + }, + ) + + +## +# Main environment configuration +## + + +@configclass +class Rizon4sTaskSpaceCableInsertionEnvCfg(CableInsertionEnvCfg): + """Task-space cable insertion with OSC control, 6D obs, curriculum, and production friction.""" + + def __post_init__(self): + super().__post_init__() + + # EEF / grasp settings (same as joint-space variant) + self.end_effector_body_name = "flange" + self.num_arm_joints = 7 + self.grasp_offset = [0.03, 0.002, -0.207] + self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] + self.gripper_joint_setter_func = set_finger_joint_pos_grav + + self.plug_orientation_roll_threshold_deg = 15.0 + self.plug_orientation_pitch_threshold_deg = 15.0 + self.plug_orientation_yaw_threshold_deg = 180.0 + + # ----- Observations: task-space with 6D rotation ----- + self.observations = TaskSpaceObservationsCfg() + + # ----- Actions: Operational Space Controller ----- + self.actions.arm_action = OperationalSpaceControllerActionCfg( + asset_name="robot", + joint_names=_ARM_JOINTS, + body_name="flange", + controller_cfg=OperationalSpaceControllerCfg( + target_types=["pose_rel"], + impedance_mode="fixed", + inertial_dynamics_decoupling=False, + motion_stiffness_task=_STIFFNESS, + motion_damping_ratio_task=_DAMPING_RATIO, + nullspace_control="none", + ), + position_scale=_ACTION_SCALE, + orientation_scale=_ACTION_SCALE, + ) + + # ----- Events: curriculum + production friction ----- + self.events = TaskSpaceEventCfg() + + # ----- Terminations ----- + self.terminations = TaskSpaceTerminationsCfg() + + self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( + self.plug_orientation_roll_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( + self.plug_orientation_pitch_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( + self.plug_orientation_yaw_threshold_deg + ) + + # ----- Scene: robot ----- + self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + ), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), + ), + init_state=ArticulationCfg.InitialStateCfg( + joint_pos={ + "joint1": 0.0, + "joint2": -0.698, + "joint3": 0.0, + "joint4": 1.571, + "joint5": 0.0, + "joint6": 0.698, + "joint7": 0.0, + }, + pos=(0.0, 0.0, 0.0), + rot=(0.0, 0.0, 0.0, 1.0), + ), + ) + + # Grav gripper actuator configuration + self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( + joint_names_expr=["finger_joint"], + effort_limit_sim=2.0, + velocity_limit_sim=1.0, + stiffness=2e3, + damping=1e1, + ) + self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( + joint_names_expr=[".*_knuckle_joint"], + effort_limit_sim=1.0, + velocity_limit_sim=1.0, + stiffness=0.0, + damping=0.0, + ) + + # ----- Workspace positions ----- + self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=_SOCKET_ROOT, + rot=_SOCKET_ROT, + ) + self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=_PLUG_ROOT, + rot=_PLUG_ROT, + ) + + # Gripper widths (same as joint-space variant) + self.hand_grasp_width = 0.3 + self.hand_hold_width = -0.08 + self.hand_close_width = -0.155 + + # Wire grasp event params + self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name + self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints + self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset + self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset + self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + + # Wire termination params + self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset + self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset + + self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset + + +@configclass +class Rizon4sTaskSpaceCableInsertionEnvCfg_PLAY(Rizon4sTaskSpaceCableInsertionEnvCfg): + """Play configuration for task-space cable insertion.""" + + def __post_init__(self): + super().__post_init__() + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py new file mode 100644 index 000000000000..3dd364b63aae --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py @@ -0,0 +1,111 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Task-space ROS inference configuration for cable insertion with Flexiv Rizon 4S. + +Inherits from the task-space training config and adds Isaac Manipulator +metadata fields plus Hubble Lab deployment alignment. +""" + +import math + +from isaaclab.assets import RigidObjectCfg +from isaaclab.utils import configclass + +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( + compute_plug_pose, + compute_socket_root, +) + +from .task_space_env_cfg import Rizon4sTaskSpaceCableInsertionEnvCfg, _ACTION_SCALE + +# --------------------------------------------------------------------------- +# Hubble Lab socket/plug positions (same as joint-space ROS inference) +# --------------------------------------------------------------------------- +_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) +_HUBBLE_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) +_HUBBLE_PLUG_CLEARANCE_Z = 0.068 + +_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) +_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( + _HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT, z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, +) + + +@configclass +class Rizon4sTaskSpaceCableInsertionROSInferenceEnvCfg(Rizon4sTaskSpaceCableInsertionEnvCfg): + """Task-space ROS / Isaac Manipulator inference config for NVIDIA Hubble Lab. + + This configuration: + + - Exposes variables needed by Isaac Manipulator for on-robot inference + with task-space (OSC) control and 6D rotation observations. + - Aligns robot mounting pose with the Flexiv Rizon 4s installation at + NVIDIA Hubble Lab (wall-mount with 90 deg rotation about negative X-axis). + - Overrides plug and socket initial poses for a fixed/deterministic setup. + """ + + def __post_init__(self): + super().__post_init__() + + # Variables used by Isaac Manipulator for on-robot inference + self.obs_order = ["eef_pos", "eef_rot_6d", "socket_kp_pos", "socket_kp_rot_6d"] + self.policy_action_space = "task" + self.arm_joint_names = [ + "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7", + ] + # 6-DOF task-space actions (3 pos + 3 axis-angle rot) + self.action_space = 6 + # Critic: 7 jpos + 7 jvel + 3 socket_pos + 6 socket_rot6d + 3 plug_pos + 6 plug_rot6d = 32 + self.state_space = 32 + # Actor: 3 eef_pos + 6 eef_rot6d + 3 socket_pos + 6 socket_rot6d = 18 + self.observation_space = 18 + + self.action_scale = [_ACTION_SCALE] * self.action_space + + # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- + self.scene.robot.init_state.joint_pos = { + "joint1": math.radians(-145), + "joint2": math.radians(80), + "joint3": math.radians(-5), + "joint4": math.radians(90.0), + "joint5": math.radians(55), + "joint6": 0.0, + "joint7": math.radians(170), + } + + self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) + self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) + + self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=_HUBBLE_SOCKET_ROOT, + rot=_HUBBLE_SOCKET_ROT, + ) + + self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=_HUBBLE_PLUG_ROOT, + rot=_HUBBLE_PLUG_ROT, + ) + + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + + # Fixed asset parameters for ROS inference (geometry center, not USD root) + self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) + + pose_range = self.events.randomize_socket_pose.params["pose_range"] + self.fixed_asset_init_pos_range = [ + pose_range["x"][1], + pose_range["y"][1], + pose_range["z"][1], + ] + self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] + self.fixed_asset_init_orn_deg_range = [ + math.degrees(pose_range["roll"][1]), + math.degrees(pose_range["pitch"][1]), + math.degrees(pose_range["yaw"][1]), + ] + + # No observation noise in task-space production config + self.fixed_asset_pos_obs_noise_level = [0.0, 0.0, 0.0] From b6297f7920c71b09e223445d95a8b4934e137da5 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 5 May 2026 18:12:55 -0700 Subject: [PATCH 10/65] Reduced plug randomization. --- .../cable_insertion/config/rizon_4s/task_space_env_cfg.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py index 585b5e2954a5..1197e1e49e5b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py @@ -213,8 +213,8 @@ class TaskSpaceEventCfg: "plug_insertion_offset": PLUG_INSERTION_OFFSET, "goal_rot": list(PLUG_GOAL_ROT), "normal_pose_range": { - "x": [-0.02, 0.02], - "y": [-0.02, 0.02], + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], "z": [-0.01, 0.01], }, }, From c6f60ba868961fad27b6fa0f8e1427f5ae9a0912 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Fri, 29 May 2026 10:34:06 -0700 Subject: [PATCH 11/65] Adding scripts, env and assets for displayport asset checking. --- scripts/check_dp_collision.py | 188 + scripts/diagnose_dp_insertion.py | 374 + scripts/environments/step_displayport.py | 487 + scripts/find_dp_insertion.py | 188 + .../config/displayport_basic/__init__.py | 19 + .../displayport_basic_env_cfg.py | 267 + .../config/displayport_basic/spawners.py | 191 + .../2584N111_Displayport Cord_plug.step | 35031 ++++++++ ...1_Displayport Cord_plug_latch_removed.step | 34756 ++++++++ .../2584N111_Displayport Cord_socket.step | 66487 ++++++++++++++++ ...isplayport Cord_socket_screws_removed.step | 50413 ++++++++++++ .../displayport_cord_material.yaml | 147 + .../displayport_cord_physics.yaml | 113 + 13 files changed, 188661 insertions(+) create mode 100644 scripts/check_dp_collision.py create mode 100644 scripts/diagnose_dp_insertion.py create mode 100644 scripts/environments/step_displayport.py create mode 100644 scripts/find_dp_insertion.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml diff --git a/scripts/check_dp_collision.py b/scripts/check_dp_collision.py new file mode 100644 index 000000000000..abe0d6c9a6cf --- /dev/null +++ b/scripts/check_dp_collision.py @@ -0,0 +1,188 @@ +"""Headless diagnostic: dump cooked collision approximation for the DisplayPort +plug/socket and step the passive drop to measure insertion depth. + +Usage: + ./isaaclab.sh -p scripts/check_dp_collision.py --headless --steps 600 +""" + +import argparse +import sys + +import gymnasium as gym +import torch + +import isaaclab_tasks # noqa: F401 +from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config + +TASK = "Isaac-Deploy-DisplayportBasic-v0" +OUT = open("/home/shauryad/output_dir/dp_diag.txt", "w") + + +def log(*a): + msg = " ".join(str(x) for x in a) + print(msg) + OUT.write(msg + "\n") + OUT.flush() + +parser = argparse.ArgumentParser(description="Headless DisplayPort collision diagnostic.") +parser.add_argument("--num_envs", type=int, default=1) +parser.add_argument("--steps", type=int, default=600) +parser.add_argument( + "--insertion-pose", + action="store_true", + help="Teleport plug to the computed insertion pose (gravity off) and check it stays seated (tests the 'jumps out' instability).", +) +parser.add_argument( + "--drop-aligned", + action="store_true", + help="Start the plug aligned and 15 mm above the seated pose, gravity ON, and check it slides in and seats (true dynamic insertion).", +) +# Computed by diagnose_dp_insertion.py for the current assets. +# diagnose prints the quat as (x,y,z,w)=(-0.70711,-0.70711,0,0); converted here +# to the (w,x,y,z) order that write_root_pose_to_sim expects. +INSERTION_POSE_POS = (0.00005, -0.01018, 0.16143) +INSERTION_POSE_ROT = (-0.5, 0.5, 0.5, 0.5) # (w, x, y, z) — from find_dp_insertion.py +add_launcher_args(parser) +args_cli, hydra_args = parser.parse_known_args() +sys.argv = [sys.argv[0]] + hydra_args + + +def dump_collisions(stage): + from pxr import Usd, UsdGeom, UsdPhysics + + for label, path in [ + ("PLUG", "/World/envs/env_0/DisplayPortPlug"), + ("SOCKET", "/World/envs/env_0/DisplayPortSocket"), + ]: + root = stage.GetPrimAtPath(path) + log(f"\n=== {label}: {path} (valid={root.IsValid()}) ===") + if not root.IsValid(): + continue + pred = Usd.TraverseInstanceProxies(Usd.PrimDefaultPredicate) + for prim in Usd.PrimRange(root, pred): + if prim.HasAPI(UsdPhysics.RigidBodyAPI): + ke = prim.GetAttribute("physics:kinematicEnabled") + log(f" RigidBody root: {prim.GetPath()} kinematic={ke.Get() if ke.IsValid() else None}") + log(f" root instanceable={root.IsInstanceable()} is_instance={root.IsInstance()}") + n_mesh = n_coll = 0 + for prim in Usd.PrimRange(root, pred): + if prim.IsA(UsdGeom.Mesh): + n_mesh += 1 + if not (prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI)): + continue + n_coll += 1 + approx = prim.GetAttribute("physics:approximation") + ce = prim.GetAttribute("physics:collisionEnabled") + physx = [s for s in prim.GetAppliedSchemas() if "Physx" in s and "Collision" in s] + log( + f" {prim.GetParent().GetName()}/{prim.GetName()}" + f" approx={approx.Get() if approx.IsValid() else 'NA'}" + f" collEnabled={ce.Get() if ce.IsValid() else True}" + f" instProxy={prim.IsInstanceProxy()}" + f" physx={physx}" + ) + log(f" -> meshes(incl. instance proxies)={n_mesh} collision_meshes={n_coll}") + + +def main(): + env_cfg, _ = resolve_task_config(TASK, "") + with launch_simulation(env_cfg, args_cli): + env_cfg.scene.num_envs = args_cli.num_envs + env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device + + env = gym.make(TASK, cfg=env_cfg) + env.reset() + + from isaaclab.sim.utils import get_current_stage + + dump_collisions(get_current_stage()) + + plug = env.unwrapped.scene["dp_plug"] + socket = env.unwrapped.scene["dp_socket"] + actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) + + def _np(arr): + try: + return arr.numpy() + except Exception: + import warp as wp + + return wp.to_torch(arr).cpu().numpy() + + def report(tag): + p = _np(plug.data.root_pos_w)[0].tolist() + s = _np(socket.data.root_pos_w)[0].tolist() + log( + f" [{tag:>10}] plug_z={p[2]:.4f} socket_z={s[2]:.4f} " + f"dz(plug-socket)={p[2] - s[2]:+.4f} plug_xy=({p[0]:+.4f},{p[1]:+.4f})" + ) + + if args_cli.insertion_pose: + from pxr import PhysxSchema + + from isaaclab.sim.utils import get_current_stage + + # gravity off so we isolate collision response (ejection) from falling + plug_prim = get_current_stage().GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") + PhysxSchema.PhysxRigidBodyAPI(plug_prim).GetDisableGravityAttr().Set(True) + + cur = plug.data.root_pos_w + pose = _np(cur).copy()[0:1] # placeholder shape + pose_t = torch.tensor( + [list(INSERTION_POSE_POS) + list(INSERTION_POSE_ROT)], + device=env.unwrapped.device, + dtype=torch.float32, + ) + plug.write_root_pose_to_sim(pose_t) + zeros = torch.zeros((1, 6), device=env.unwrapped.device, dtype=torch.float32) + plug.write_root_velocity_to_sim(zeros) + + log("\n=== insertion-pose stability (gravity OFF) — drift = ejection ===") + start = _np(plug.data.root_pos_w)[0].copy() + report("placed") + with torch.inference_mode(): + for i in range(args_cli.steps): + env.step(actions) + if (i + 1) % 60 == 0: + now = _np(plug.data.root_pos_w)[0] + drift = float(((now - start) ** 2).sum() ** 0.5) + report(f"step {i + 1}") + log(f" drift_from_placed={drift * 1000:.2f} mm") + elif args_cli.drop_aligned: + # Start aligned to the insertion orientation, 15 mm above the seated + # pose along the insertion axis (world +Z), gravity ON. Insertion + # axis is world -Z, so gravity should drive the plug into the cavity. + start_pos = (INSERTION_POSE_POS[0], INSERTION_POSE_POS[1], INSERTION_POSE_POS[2] + 0.015) + pose_t = torch.tensor( + [list(start_pos) + list(INSERTION_POSE_ROT)], + device=env.unwrapped.device, + dtype=torch.float32, + ) + plug.write_root_pose_to_sim(pose_t) + plug.write_root_velocity_to_sim( + torch.zeros((1, 6), device=env.unwrapped.device, dtype=torch.float32) + ) + seated_z = INSERTION_POSE_POS[2] + log("\n=== aligned drop (gravity ON) — should slide DOWN to seated z≈%.4f ===" % seated_z) + report("placed") + with torch.inference_mode(): + for i in range(args_cli.steps): + env.step(actions) + if (i + 1) % 60 == 0: + report(f"step {i + 1}") + zf = _np(plug.data.root_pos_w)[0][2] + log(f" -> final plug_z={zf:.4f} (seated≈{seated_z:.4f}; lower=inserted, ~0.20=rested on top)") + else: + log("\n=== drop test (plug falls under gravity) ===") + report("t=0") + with torch.inference_mode(): + for i in range(args_cli.steps): + env.step(actions) + if (i + 1) % 60 == 0: + report(f"step {i + 1}") + report("final") + log("\nDONE") + + +if __name__ == "__main__": + main() diff --git a/scripts/diagnose_dp_insertion.py b/scripts/diagnose_dp_insertion.py new file mode 100644 index 000000000000..0a5475805c93 --- /dev/null +++ b/scripts/diagnose_dp_insertion.py @@ -0,0 +1,374 @@ +"""Diagnose DisplayPort plug/socket insertion geometry. + +Analyzes the fixed USD assets to determine: + 1. Whether the plug connector cross-section fits inside the socket cavity + 2. The correct world-space insertion pose (position + quaternion) + +Usage: + /path/to/isaaclab/python scripts/diagnose_dp_insertion.py +""" + +from __future__ import annotations + +import math +import os + +from pxr import Gf, Usd, UsdGeom + +ASSETS_DIR = os.path.join( + os.path.dirname(os.path.abspath(__file__)), + "..", + "source", + "isaaclab_tasks", + "isaaclab_tasks", + "manager_based", + "manipulation", + "deploy", + "cable_insertion", + "display_cable_insertion_assets", +) + +PLUG_PATH = os.path.join(ASSETS_DIR, "display_port_plug_fixed.usd") +SOCKET_PATH = os.path.join(ASSETS_DIR, "display_port_socket_fixed.usd") + +# Socket rotation used in the env config (x, y, z, w) +SOCKET_ROT_XYZW = (0.5, 0.5, 0.5, -0.5) +SOCKET_POS = (0.0, 0.0, 0.15) + +PLUG_ROT_XYZW = (0.70711, 0.70711, 0.0, 0.0) + + +def _load_points(usd_path: str) -> list[Gf.Vec3f]: + """Load all mesh points from a single-mesh fixed USD.""" + stage = Usd.Stage.Open(usd_path) + for prim in stage.TraverseAll(): + if prim.IsA(UsdGeom.Mesh): + return list(UsdGeom.Mesh(prim).GetPointsAttr().Get()) + raise RuntimeError(f"No mesh found in {usd_path}") + + +def _load_body_points_original(usd_path: str, scale: float) -> dict[str, list[Gf.Vec3d]]: + """Load per-body world-space points from the ORIGINAL (pre-fix) USD.""" + stage = Usd.Stage.Open(usd_path) + xf_cache = UsdGeom.XformCache() + bodies: dict[str, list[Gf.Vec3d]] = {} + seen_keys: set[tuple[str, int]] = set() + for prim in stage.TraverseAll(): + if not prim.IsA(UsdGeom.Mesh): + continue + parent = prim.GetParent().GetName() + pts = UsdGeom.Mesh(prim).GetPointsAttr().Get() + if not pts: + continue + key = (parent, len(pts)) + if key in seen_keys: + continue + seen_keys.add(key) + world_xf = xf_cache.GetLocalToWorldTransform(prim) + world_pts = [] + for p in pts: + wp = world_xf.Transform(Gf.Vec3d(p[0], p[1], p[2])) + world_pts.append(Gf.Vec3d(wp[0] * scale, wp[1] * scale, wp[2] * scale)) + bodies[parent] = world_pts + return bodies + + +def _bbox(pts): + """Return (min_xyz, max_xyz) for a list of points.""" + xs = [p[0] for p in pts] + ys = [p[1] for p in pts] + zs = [p[2] for p in pts] + return (min(xs), min(ys), min(zs)), (max(xs), max(ys), max(zs)) + + +def _quat_to_matrix(q_xyzw): + """Convert (x,y,z,w) quaternion to a Gf.Matrix4d rotation.""" + x, y, z, w = q_xyzw + rot = Gf.Rotation(Gf.Quatd(w, x, y, z)) + m = Gf.Matrix4d() + m.SetRotate(rot) + return m + + +def _quat_mul(q1, q2): + """Multiply two (x,y,z,w) quaternions.""" + x1, y1, z1, w1 = q1 + x2, y2, z2, w2 = q2 + return ( + w1*x2 + x1*w2 + y1*z2 - z1*y2, + w1*y2 - x1*z2 + y1*w2 + z1*x2, + w1*z2 + x1*y2 - y1*x2 + z1*w2, + w1*w2 - x1*x2 - y1*y2 - z1*z2, + ) + + +def _quat_inv(q): + """Invert a unit quaternion (x,y,z,w).""" + x, y, z, w = q + return (-x, -y, -z, w) + + +def _rotate_vec(q_xyzw, v): + """Rotate vector v by quaternion q (x,y,z,w).""" + qx, qy, qz, qw = q_xyzw + vx, vy, vz = v + tx = 2.0*(qy*vz - qz*vy) + ty = 2.0*(qz*vx - qx*vz) + tz = 2.0*(qx*vy - qy*vx) + return ( + vx + qw*tx + qy*tz - qz*ty, + vy + qw*ty + qz*tx - qx*tz, + vz + qw*tz + qx*ty - qy*tx, + ) + + +def _transform_points_by_pose(pts, pos, rot_xyzw): + """Apply rigid body transform (pos, rot) to a list of points.""" + m = _quat_to_matrix(rot_xyzw) + out = [] + for p in pts: + rp = m.Transform(Gf.Vec3d(p[0], p[1], p[2])) + out.append(Gf.Vec3d(rp[0]+pos[0], rp[1]+pos[1], rp[2]+pos[2])) + return out + + +def _cross_section_at_x(pts, x_val, tol=0.0005): + """Get Y-Z bounds of points near a given X value.""" + nearby = [(p[1], p[2]) for p in pts if abs(p[0] - x_val) < tol] + if not nearby: + return None + ys = [p[0] for p in nearby] + zs = [p[1] for p in nearby] + return (min(ys), max(ys)), (min(zs), max(zs)) + + +def main(): + print("=" * 70) + print("DisplayPort Insertion Geometry Diagnostic") + print("=" * 70) + + # --- 1. Load fixed assets and show local-frame bounding boxes --- + plug_pts = _load_points(PLUG_PATH) + socket_pts = _load_points(SOCKET_PATH) + + plug_min, plug_max = _bbox(plug_pts) + sock_min, sock_max = _bbox(socket_pts) + + print("\n--- Local-frame bounding boxes (mm) ---") + print(f"Plug: X[{plug_min[0]*1e3:.2f}, {plug_max[0]*1e3:.2f}] " + f"Y[{plug_min[1]*1e3:.2f}, {plug_max[1]*1e3:.2f}] " + f"Z[{plug_min[2]*1e3:.2f}, {plug_max[2]*1e3:.2f}]") + print(f"Socket: X[{sock_min[0]*1e3:.2f}, {sock_max[0]*1e3:.2f}] " + f"Y[{sock_min[1]*1e3:.2f}, {sock_max[1]*1e3:.2f}] " + f"Z[{sock_min[2]*1e3:.2f}, {sock_max[2]*1e3:.2f}]") + + # --- 2. Load original per-body geometry for anatomy --- + orig_plug_dir = os.path.join(ASSETS_DIR, "display_port_plug.usd") + orig_sock_dir = os.path.join(ASSETS_DIR, "display_port_socket.usd") + + print("\n--- Per-body anatomy (world-space, mm) ---") + for label, path, scale in [("PLUG", orig_plug_dir, 0.01), ("SOCKET", orig_sock_dir, 0.01)]: + bodies = _load_body_points_original(path, scale) + print(f"\n {label}:") + for name, pts in bodies.items(): + bmin, bmax = _bbox(pts) + print(f" {name:8s} X[{bmin[0]*1e3:7.2f},{bmax[0]*1e3:7.2f}] " + f"Y[{bmin[1]*1e3:7.2f},{bmax[1]*1e3:7.2f}] " + f"Z[{bmin[2]*1e3:7.2f},{bmax[2]*1e3:7.2f}] " + f"size({(bmax[0]-bmin[0])*1e3:.2f} x {(bmax[1]-bmin[1])*1e3:.2f} x {(bmax[2]-bmin[2])*1e3:.2f})") + + # --- 3. World-space transforms --- + print("\n--- World-space bounding boxes (mm) ---") + sock_world = _transform_points_by_pose(socket_pts, SOCKET_POS, SOCKET_ROT_XYZW) + sw_min, sw_max = _bbox(sock_world) + print(f"Socket (world): X[{sw_min[0]*1e3:.2f}, {sw_max[0]*1e3:.2f}] " + f"Y[{sw_min[1]*1e3:.2f}, {sw_max[1]*1e3:.2f}] " + f"Z[{sw_min[2]*1e3:.2f}, {sw_max[2]*1e3:.2f}]") + + plug_world = _transform_points_by_pose(plug_pts, (0, 0, 0.25), PLUG_ROT_XYZW) + pw_min, pw_max = _bbox(plug_world) + print(f"Plug (world): X[{pw_min[0]*1e3:.2f}, {pw_max[0]*1e3:.2f}] " + f"Y[{pw_min[1]*1e3:.2f}, {pw_max[1]*1e3:.2f}] " + f"Z[{pw_min[2]*1e3:.2f}, {pw_max[2]*1e3:.2f}]") + + # --- 4. Determine socket cavity axes in world space --- + # The socket's local X axis is the insertion depth axis. + # With socket rotation, find where it maps in world space. + socket_x_world = _rotate_vec(SOCKET_ROT_XYZW, (1, 0, 0)) + socket_y_world = _rotate_vec(SOCKET_ROT_XYZW, (0, 1, 0)) + socket_z_world = _rotate_vec(SOCKET_ROT_XYZW, (0, 0, 1)) + print(f"\nSocket local X (insertion depth) -> world: ({socket_x_world[0]:.3f}, {socket_x_world[1]:.3f}, {socket_x_world[2]:.3f})") + print(f"Socket local Y (height) -> world: ({socket_y_world[0]:.3f}, {socket_y_world[1]:.3f}, {socket_y_world[2]:.3f})") + print(f"Socket local Z (width) -> world: ({socket_z_world[0]:.3f}, {socket_z_world[1]:.3f}, {socket_z_world[2]:.3f})") + + plug_x_world = _rotate_vec(PLUG_ROT_XYZW, (1, 0, 0)) + plug_y_world = _rotate_vec(PLUG_ROT_XYZW, (0, 1, 0)) + plug_z_world = _rotate_vec(PLUG_ROT_XYZW, (0, 0, 1)) + print(f"\nPlug local X -> world: ({plug_x_world[0]:.3f}, {plug_x_world[1]:.3f}, {plug_x_world[2]:.3f})") + print(f"Plug local Y -> world: ({plug_y_world[0]:.3f}, {plug_y_world[1]:.3f}, {plug_y_world[2]:.3f})") + print(f"Plug local Z -> world: ({plug_z_world[0]:.3f}, {plug_z_world[1]:.3f}, {plug_z_world[2]:.3f})") + + # --- 5. Compute insertion pose --- + # Strategy: the plug needs to be oriented so its insertion axis aligns + # with the socket insertion axis, and positioned so the connector part + # is centered inside the socket cavity. + # + # Socket cavity center (local frame, from Body5 midpoint): + # Body5 X: [8.31, 13.16] -> midpoint ~10.7mm -> 0.0107m + # Body5 Y: [-1.04, 1.07] -> midpoint ~0.015mm -> ~0 + # Body5 Z: [-3.30, 3.27] -> midpoint ~-0.015mm -> ~0 + # So the cavity center in socket local frame is approx (0.0107, 0, 0) + # + # Plug connector center (local frame, from Body1): + # Body1 X: [-2.85, 3.41] -> midpoint ~0.28mm -> 0.00028m + # Body1 Y: [-0.92, 0.92] -> midpoint ~0 + # Body1 Z: [3.18, 12.98] -> midpoint ~8.08mm -> 0.00808m + # The connector tip is at max Z in plug local frame: ~0.013m + + # Socket cavity entrance (high-X end in socket local frame) + sock_cavity_entrance_local = (0.013, 0.0, 0.0) + sock_cavity_center_local = (0.0107, 0.0, 0.0) + + # Transform to world + cavity_entrance_world = _rotate_vec(SOCKET_ROT_XYZW, sock_cavity_entrance_local) + cavity_entrance_world = tuple(c + s for c, s in zip(cavity_entrance_world, SOCKET_POS)) + + cavity_center_world = _rotate_vec(SOCKET_ROT_XYZW, sock_cavity_center_local) + cavity_center_world = tuple(c + s for c, s in zip(cavity_center_world, SOCKET_POS)) + + print(f"\nSocket cavity entrance (world, mm): ({cavity_entrance_world[0]*1e3:.2f}, {cavity_entrance_world[1]*1e3:.2f}, {cavity_entrance_world[2]*1e3:.2f})") + print(f"Socket cavity center (world, mm): ({cavity_center_world[0]*1e3:.2f}, {cavity_center_world[1]*1e3:.2f}, {cavity_center_world[2]*1e3:.2f})") + + # The plug's connector tip (Body1 max-Z in plug local frame) should + # align with the socket cavity entrance. We need the plug rotation such + # that the plug's Z+ axis (connector insertion direction) aligns with + # the socket's X- axis (insertion goes into the socket from the high-X side). + # + # Try several candidate rotations and pick the one that aligns axes best. + # The plug connector extends along +Z in local frame. + # The socket receptacle opens along -X in local frame (plug goes in from +X side). + # So we need plug_local_Z to map to socket_local_(-X) in world frame. + # i.e. plug_rot should map (0,0,1) to -socket_x_world + + target_insertion_dir = tuple(-c for c in socket_x_world) + print(f"\nTarget insertion direction (world): ({target_insertion_dir[0]:.3f}, {target_insertion_dir[1]:.3f}, {target_insertion_dir[2]:.3f})") + print(f"Current plug Z in world: ({plug_z_world[0]:.3f}, {plug_z_world[1]:.3f}, {plug_z_world[2]:.3f})") + + # Try a grid of euler angles to find plug rotation that best aligns + # plug_Z -> target_insertion_dir AND plug_Y -> socket_Y + best_rot = None + best_score = float('inf') + for rx in range(0, 360, 90): + for ry in range(0, 360, 90): + for rz in range(0, 360, 90): + rx_r, ry_r, rz_r = math.radians(rx), math.radians(ry), math.radians(rz) + # Build quaternion from euler XYZ + cx, sx = math.cos(rx_r/2), math.sin(rx_r/2) + cy, sy = math.cos(ry_r/2), math.sin(ry_r/2) + cz, sz = math.cos(rz_r/2), math.sin(rz_r/2) + # qx + qx = (sx, 0, 0, cx) + qy = (0, sy, 0, cy) + qz = (0, 0, sz, cz) + q = _quat_mul(_quat_mul(qz, qy), qx) # ZYX convention + + pz = _rotate_vec(q, (0, 0, 1)) + py = _rotate_vec(q, (0, 1, 0)) + + # Score: how well plug_Z aligns with target insertion dir + dot_z = sum(a*b for a, b in zip(pz, target_insertion_dir)) + # Also check plug_Y aligns with socket_Y (height direction) + dot_y = sum(a*b for a, b in zip(py, socket_y_world)) + score = (1 - dot_z)**2 + (1 - dot_y)**2 + if score < best_score: + best_score = score + best_rot = q + best_euler = (rx, ry, rz) + + print(f"\nBest plug rotation: euler=({best_euler[0]}, {best_euler[1]}, {best_euler[2]}) deg") + print(f" quaternion (x,y,z,w): ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") + best_pz = _rotate_vec(best_rot, (0, 0, 1)) + best_py = _rotate_vec(best_rot, (0, 1, 0)) + best_px = _rotate_vec(best_rot, (1, 0, 0)) + print(f" plug Z (insertion) -> world: ({best_pz[0]:.3f}, {best_pz[1]:.3f}, {best_pz[2]:.3f})") + print(f" plug Y (height) -> world: ({best_py[0]:.3f}, {best_py[1]:.3f}, {best_py[2]:.3f})") + print(f" plug X -> world: ({best_px[0]:.3f}, {best_px[1]:.3f}, {best_px[2]:.3f})") + + # Compute position: place plug connector tip at socket cavity entrance + # Plug connector tip in plug local frame: center of Body1 at max Z + plug_connector_tip_local = (0.00028, 0.0, 0.01298) + tip_world = _rotate_vec(best_rot, plug_connector_tip_local) + + # Place tip at cavity entrance + plug_goal_pos = tuple(ce - tw for ce, tw in zip(cavity_entrance_world, tip_world)) + + print(f"\n--- COMPUTED INSERTION POSE ---") + print(f" plug_pos = ({plug_goal_pos[0]:.6f}, {plug_goal_pos[1]:.6f}, {plug_goal_pos[2]:.6f})") + print(f" plug_rot = ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") + + # Also compute a "partially inserted" pose (halfway into cavity) + plug_partial_pos = tuple(ce - tw + 0.5*(cc - ce) for ce, tw, cc in + zip(cavity_entrance_world, tip_world, cavity_center_world)) + print(f"\n--- PARTIALLY INSERTED POSE ---") + print(f" plug_pos = ({plug_partial_pos[0]:.6f}, {plug_partial_pos[1]:.6f}, {plug_partial_pos[2]:.6f})") + print(f" plug_rot = ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") + + # --- 6. Cross-section fit check --- + print("\n--- Cross-section fit analysis ---") + # Transform plug points using the best rotation to socket local frame + # so we can compare Y-Z cross sections directly + sock_rot_inv = _quat_inv(SOCKET_ROT_XYZW) + + # Get socket points in socket-local frame (just the raw points) + sock_local = socket_pts # already in local frame + + # Transform plug to socket-local frame at the insertion pose + plug_at_goal = _transform_points_by_pose(plug_pts, plug_goal_pos, best_rot) + # Now convert from world to socket-local + plug_in_sock_local = [] + for p in plug_at_goal: + shifted = Gf.Vec3d(p[0]-SOCKET_POS[0], p[1]-SOCKET_POS[1], p[2]-SOCKET_POS[2]) + rp = _quat_to_matrix(sock_rot_inv).Transform(shifted) + plug_in_sock_local.append(rp) + + # Check cross-sections at various X positions along socket insertion axis + print(f"\n Socket cavity (local Y-Z cross-section) vs Plug at insertion pose:") + print(f" {'X(mm)':>7s} {'Sock Y range':>16s} {'Sock Z range':>16s} {'Plug Y range':>16s} {'Plug Z range':>16s} {'Fits?':>6s}") + + for x_mm in range(8, 16): + x_m = x_mm / 1000.0 + tol = 0.001 + + sock_cs = [(p[1], p[2]) for p in sock_local if abs(p[0] - x_m) < tol] + plug_cs = [(p[1], p[2]) for p in plug_in_sock_local if abs(p[0] - x_m) < tol] + + if not sock_cs or not plug_cs: + s_str = "no data" if not sock_cs else "" + p_str = "no data" if not plug_cs else "" + print(f" {x_mm:7d} {s_str:>16s} {'':>16s} {p_str:>16s}") + continue + + sy = (min(p[0] for p in sock_cs)*1e3, max(p[0] for p in sock_cs)*1e3) + sz = (min(p[1] for p in sock_cs)*1e3, max(p[1] for p in sock_cs)*1e3) + py = (min(p[0] for p in plug_cs)*1e3, max(p[0] for p in plug_cs)*1e3) + pz = (min(p[1] for p in plug_cs)*1e3, max(p[1] for p in plug_cs)*1e3) + + fits_y = py[0] >= sy[0] and py[1] <= sy[1] + fits_z = pz[0] >= sz[0] and pz[1] <= sz[1] + fits = "YES" if fits_y and fits_z else "NO" + + print(f" {x_mm:7d} [{sy[0]:6.2f},{sy[1]:6.2f}] [{sz[0]:6.2f},{sz[1]:6.2f}] " + f"[{py[0]:6.2f},{py[1]:6.2f}] [{pz[0]:6.2f},{pz[1]:6.2f}] {fits:>6s}") + + print("\n" + "=" * 70) + print("SUMMARY") + print("=" * 70) + print(f"contact_offset was 0.02m (20mm) -- larger than the whole connector.") + print(f"Reduced to 0.001m (1mm) in env config.") + print(f"\nCopy these into displayport_basic_env_cfg.py or use 'i' command in interactive script:") + print(f" INSERTION_POSE_POS = ({plug_goal_pos[0]:.6f}, {plug_goal_pos[1]:.6f}, {plug_goal_pos[2]:.6f})") + print(f" INSERTION_POSE_ROT = ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") + + +if __name__ == "__main__": + main() diff --git a/scripts/environments/step_displayport.py b/scripts/environments/step_displayport.py new file mode 100644 index 000000000000..5f54521551ce --- /dev/null +++ b/scripts/environments/step_displayport.py @@ -0,0 +1,487 @@ +"""Interactive runner for DisplayPort basic drop test. + +Usage: + ./isaaclab.sh -p scripts/environments/step_displayport.py --num_envs 1 --viz kit + +The simulation runs continuously at a slow rate. Commands are read +from stdin in a non-blocking way so the GUI stays fully interactive +(zoom, pan, orbit all work normally). + +Commands (type at the prompt, then press Enter): + x/y/z move plug by metres along that axis (e.g. "x 0.01") + p print current plug & socket positions + g toggle gravity on the plug (disable to position it freely) + r reset scene to initial state + f fast mode (normal sim speed) + s slow mode (default — pauses between steps) + q quit +""" + +import argparse +import select +import sys +import time + +import gymnasium as gym +import torch +import warp as wp + +import isaaclab_tasks # noqa: F401 +from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config + +TASK = "Isaac-Deploy-DisplayportBasic-v0" + +# Insertion pose: plug tip at socket opening (simready assets) +# Recompute with diagnose_dp_insertion.py if assets change +INSERTION_POSE_POS = (0.0, 0.066, 0.2305) +INSERTION_POSE_ROT = (0.70711, 0.70711, 0.00000, 0.00000) + +parser = argparse.ArgumentParser(description="Interactive DisplayPort drop test.") +parser.add_argument("--num_envs", type=int, default=1) +parser.add_argument("--step_delay", type=float, default=0.5, + help="Seconds between physics steps in slow mode (default 0.5).") +add_launcher_args(parser) +args_cli, hydra_args = parser.parse_known_args() +sys.argv = [sys.argv[0]] + hydra_args + +HELP = """ +=== Interactive plug positioning (GUI stays responsive) === + x → move plug along X (e.g. "x 0.01" or "x -0.005") + y → move plug along Y + z → move plug along Z + rx → rotate plug about world X (e.g. "rx 90") + ry → rotate plug about world Y + rz → rotate plug about world Z + p → print plug & socket positions + c → inspect collision mesh types on all prims + t → show active contact points (which bodies are colliding & where) + d → disable collision on a socket body (e.g. "d Body8") + e → enable collision on a socket body (e.g. "e Body8") + h → toggle visibility of a socket body (e.g. "h Body4") + i → teleport plug to computed insertion pose (gravity off) + g → toggle gravity on plug (off = free positioning) + k → freeze/unfreeze plug (toggle kinematic — stops all movement) + r → reset scene + f → fast mode (full speed) + s → slow mode (paused between steps, default) + q → quit + +Simulation runs continuously — use mouse in the Kit window to +zoom / pan / orbit freely. +""" + + +def _get_plug(env): + return env.unwrapped.scene["dp_plug"] + + +def _get_socket(env): + return env.unwrapped.scene["dp_socket"] + + +def _print_poses(env): + plug = _get_plug(env) + sock = _get_socket(env) + plug_pos = wp.to_torch(plug.data.root_pos_w)[0].cpu() + plug_rot = wp.to_torch(plug.data.root_quat_w)[0].cpu() + sock_pos = wp.to_torch(sock.data.root_pos_w)[0].cpu() + sock_rot = wp.to_torch(sock.data.root_quat_w)[0].cpu() + print(f" Plug pos={plug_pos.tolist()} rot={plug_rot.tolist()}") + print(f" Socket pos={sock_pos.tolist()} rot={sock_rot.tolist()}") + + +def _move_plug(env, axis: int, delta: float): + """Teleport plug by *delta* metres along the given axis (0=x, 1=y, 2=z).""" + plug = _get_plug(env) + pos = wp.to_torch(plug.data.root_pos_w).clone() + quat = wp.to_torch(plug.data.root_quat_w).clone() + pos[0, axis] += delta + plug.write_root_pose_to_sim(torch.cat([pos, quat], dim=-1)) + + +def _rotate_plug(env, axis: int, deg: float): + """Rotate plug by *deg* degrees about the given WORLD axis (0=x, 1=y, 2=z).""" + import math + + plug = _get_plug(env) + pos = wp.to_torch(plug.data.root_pos_w).clone() + q = wp.to_torch(plug.data.root_quat_w).clone()[0] # (w, x, y, z) + half = math.radians(deg) / 2.0 + d = [math.cos(half), 0.0, 0.0, 0.0] + d[axis + 1] = math.sin(half) + dq = torch.tensor(d, device=q.device, dtype=q.dtype) + w1, x1, y1, z1 = dq + w2, x2, y2, z2 = q + # world-frame rotation: new = dq (x) q + new = torch.tensor( + [ + w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, + w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, + w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, + w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, + ], + device=q.device, + dtype=q.dtype, + ).unsqueeze(0) + plug.write_root_pose_to_sim(torch.cat([pos, new], dim=-1)) + + +def _toggle_gravity(env): + """Toggle gravity on the plug rigid body.""" + from pxr import PhysxSchema + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + plug_prim = stage.GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") + try: + physx_rb = PhysxSchema.PhysxRigidBodyAPI(plug_prim) + cur = physx_rb.GetDisableGravityAttr().Get() + physx_rb.GetDisableGravityAttr().Set(not cur) + state = "OFF" if not cur else "ON" + except Exception: + state = "toggle failed" + print(f" Plug gravity: {state}") + + +def _set_gravity(env, disable: bool): + """Explicitly set gravity on the plug.""" + from pxr import PhysxSchema + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + plug_prim = stage.GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") + try: + physx_rb = PhysxSchema.PhysxRigidBodyAPI(plug_prim) + physx_rb.GetDisableGravityAttr().Set(disable) + except Exception: + pass + + +def _freeze_plug(env): + """Toggle kinematic mode on the plug to freeze/unfreeze it in place.""" + from pxr import UsdPhysics + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + plug_prim = stage.GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") + rb = UsdPhysics.RigidBodyAPI(plug_prim) + kinematic_attr = rb.GetKinematicEnabledAttr() + cur = kinematic_attr.Get() if kinematic_attr.IsValid() else False + kinematic_attr.Set(not cur) + if not cur: + plug = _get_plug(env) + zeros = torch.zeros(1, 3, device=wp.to_torch(plug.data.root_pos_w).device) + plug.write_root_velocity_to_sim(torch.cat([zeros, zeros], dim=-1)) + state = "FROZEN (kinematic)" if not cur else "UNFROZEN (dynamic)" + print(f" Plug: {state}") + + +def _insert_plug(env): + """Teleport plug to the computed insertion pose with gravity disabled.""" + _set_gravity(env, disable=True) + plug = _get_plug(env) + cur_pos = wp.to_torch(plug.data.root_pos_w).clone() + pose_vals = list(INSERTION_POSE_POS) + list(INSERTION_POSE_ROT) + pose = cur_pos.new_tensor(pose_vals).unsqueeze(0) + plug.write_root_pose_to_sim(pose) + zeros = torch.zeros_like(cur_pos) + plug.write_root_velocity_to_sim(torch.cat([zeros, zeros], dim=-1)) + print(" Plug teleported to insertion pose (gravity OFF).") + _print_poses(env) + + +def _inspect_collisions(env): + """Walk the prim tree for plug and socket and print collision mesh info.""" + from pxr import Usd, UsdGeom, UsdPhysics + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + for label, path in [("PLUG", "/World/envs/env_0/DisplayPortPlug"), + ("SOCKET", "/World/envs/env_0/DisplayPortSocket")]: + print(f"\n === {label}: {path} ===") + root = stage.GetPrimAtPath(path) + if not root.IsValid(): + print(f" (prim not found)") + continue + for prim in Usd.PrimRange(root): + ppath = str(prim.GetPath()) + ptype = prim.GetTypeName() + is_mesh = prim.IsA(UsdGeom.Mesh) + has_col = prim.HasAPI(UsdPhysics.CollisionAPI) + has_mesh_col = prim.HasAPI(UsdPhysics.MeshCollisionAPI) + has_rb = prim.HasAPI(UsdPhysics.RigidBodyAPI) + schemas_list = prim.GetAppliedSchemas() + + extras = [] + if has_rb: + extras.append("RigidBody") + if has_col: + col_enabled = prim.GetAttribute("physics:collisionEnabled") + enabled_str = "ON" if (not col_enabled.IsValid() or col_enabled.Get() != False) else "OFF" + extras.append(f"Collision({enabled_str})") + if has_mesh_col: + approx_attr = prim.GetAttribute("physics:approximation") + approx = approx_attr.Get() if approx_attr.IsValid() else "N/A" + extras.append(f"MeshCollision(approx={approx})") + + physx_schemas = [s for s in schemas_list if "Physx" in s and "Collision" in s] + if physx_schemas: + extras.append(f"PhysX={physx_schemas}") + + tag = " [MESH]" if is_mesh else "" + apis = ", ".join(extras) if extras else "none" + if is_mesh and has_col: + print(f" {ppath}{tag} apis=[{apis}]") + print() + + +def _toggle_body_collision(env, body_name: str, enable: bool): + """Enable or disable collision on a specific socket body by name.""" + from pxr import Usd, UsdGeom, UsdPhysics + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + socket_path = "/World/envs/env_0/DisplayPortSocket" + root = stage.GetPrimAtPath(socket_path) + if not root.IsValid(): + print(f" Socket prim not found.") + return + + found = False + for prim in Usd.PrimRange(root): + parent_name = prim.GetParent().GetName() if prim.GetParent() else "" + if parent_name == body_name and prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI): + col_attr = prim.GetAttribute("physics:collisionEnabled") + if not col_attr.IsValid(): + col_attr = prim.CreateAttribute("physics:collisionEnabled", prim.GetStage().GetRootLayer().GetPropertyAtPath(prim.GetPath().AppendProperty("physics:collisionEnabled")).typeName if False else None) + prim.GetAttribute("physics:collisionEnabled").Set(enable) + state = "ENABLED" if enable else "DISABLED" + print(f" {body_name}: collision {state} on {prim.GetPath()}") + found = True + if not found: + print(f" Body '{body_name}' not found in socket. Available bodies:") + bodies = set() + for prim in Usd.PrimRange(root): + if prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI): + bodies.add(prim.GetParent().GetName()) + print(f" {', '.join(sorted(bodies))}") + + +def _toggle_body_visibility(env, body_name: str): + """Toggle visibility of a socket body to visually identify it.""" + from pxr import Usd, UsdGeom + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + socket_path = "/World/envs/env_0/DisplayPortSocket" + root = stage.GetPrimAtPath(socket_path) + if not root.IsValid(): + print(" Socket prim not found.") + return + + found = False + for prim in Usd.PrimRange(root): + parent_name = prim.GetParent().GetName() if prim.GetParent() else "" + if parent_name == body_name and prim.IsA(UsdGeom.Mesh): + imageable = UsdGeom.Imageable(prim) + cur = imageable.ComputeVisibility() + if cur == UsdGeom.Tokens.invisible: + imageable.MakeVisible() + print(f" {body_name}: now VISIBLE") + else: + imageable.MakeInvisible() + print(f" {body_name}: now HIDDEN") + found = True + break + if not found: + print(f" Body '{body_name}' not found.") + + +def _show_contacts(env): + """Show contact forces on the plug using Isaac Lab's built-in data.""" + from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema + from isaaclab.sim.utils import get_current_stage + import omni.physx + from carb import Float3 + + plug = _get_plug(env) + plug_pos = wp.to_torch(plug.data.root_pos_w)[0].cpu().tolist() + + # Try various ways to get contact force + force_found = False + try: + # With activate_contact_sensors=True, this should work + force_data = plug.data.net_forces_w + if force_data is not None: + net_force = wp.to_torch(force_data)[0].cpu().tolist() + force_mag = (net_force[0]**2 + net_force[1]**2 + net_force[2]**2)**0.5 + print(f" Plug net force: ({net_force[0]:.4f}, {net_force[1]:.4f}, {net_force[2]:.4f}) N |F|={force_mag:.4f} N") + force_found = True + if force_mag > 1e-6: + fx, fy, fz = net_force[0]/force_mag, net_force[1]/force_mag, net_force[2]/force_mag + print(f" → Force direction: ({fx:.3f}, {fy:.3f}, {fz:.3f})") + if fz > 0.5: + print(f" → Plug is being pushed UPWARD (blocked from below)") + if abs(fx) > 0.3 or abs(fy) > 0.3: + print(f" → Plug has lateral contact (misaligned)") + except Exception: + pass + + if not force_found: + # List available data attributes for debugging + try: + data_attrs = [a for a in dir(plug.data) if not a.startswith('_') + and ('force' in a.lower() or 'contact' in a.lower())] + print(f" Available force/contact attrs: {data_attrs}") + except Exception: + pass + + print(f"\n Plug pos: ({plug_pos[0]*1e3:.2f}, {plug_pos[1]*1e3:.2f}, {plug_pos[2]*1e3:.2f}) mm") + + # Overlap sphere query with correct API + try: + physx_sq = omni.physx.get_physx_scene_query_interface() + + hits = [] + def report_hit(hit): + hits.append(str(hit.rigid_body)) + return True + + pos = Float3(plug_pos[0], plug_pos[1], plug_pos[2]) + physx_sq.overlap_sphere(0.02, pos, report_hit, False) + + if hits: + print(f"\n Bodies within 20mm of plug center:") + for h in hits: + print(f" → {h}") + else: + print(f"\n No bodies found within 20mm sphere of plug center.") + except Exception as e: + print(f"\n Overlap query failed: {e}") + + print(f"\n TIP: To identify the blocker, try:") + print(f" 1. Freeze plug with 'k'") + print(f" 2. Disable bodies one at a time: 'd Body4', 'd Body5', etc.") + print(f" 3. Unfreeze with 'k' — if plug moves further, that body was blocking") + + +def _check_stdin(): + """Return a line from stdin if available, else None (non-blocking).""" + if select.select([sys.stdin], [], [], 0.0)[0]: + return sys.stdin.readline().strip() + return None + + +def _handle_command(raw, env): + """Process one command. Returns True if should quit.""" + cmd = raw.lower().split() + if not cmd: + return False + + axis_map = {"x": 0, "y": 1, "z": 2} + + if cmd[0] == "q": + return True + elif cmd[0] == "i": + _insert_plug(env) + elif cmd[0] == "p": + _print_poses(env) + elif cmd[0] == "c": + _inspect_collisions(env) + elif cmd[0] == "t": + _show_contacts(env) + elif cmd[0] == "d": + if len(cmd) < 2: + print(" Usage: d (e.g. 'd Body8')") + else: + _toggle_body_collision(env, raw.split()[1], enable=False) + elif cmd[0] == "e": + if len(cmd) < 2: + print(" Usage: e (e.g. 'e Body8')") + else: + _toggle_body_collision(env, raw.split()[1], enable=True) + elif cmd[0] == "h": + if len(cmd) < 2: + print(" Usage: h (toggle visibility, e.g. 'h Body4')") + else: + _toggle_body_visibility(env, raw.split()[1]) + elif cmd[0] == "g": + _toggle_gravity(env) + elif cmd[0] == "k": + _freeze_plug(env) + elif cmd[0] == "r": + env.reset() + print(" Scene reset.") + _print_poses(env) + elif cmd[0] == "f": + print(" Fast mode.") + return "fast" + elif cmd[0] == "s": + print(" Slow mode.") + return "slow" + elif cmd[0] in ("rx", "ry", "rz"): + if len(cmd) < 2: + print(f" Usage: {cmd[0]} (rotate plug about world {cmd[0][1]}-axis, e.g. {cmd[0]} 90)") + else: + try: + _rotate_plug(env, {"rx": 0, "ry": 1, "rz": 2}[cmd[0]], float(cmd[1])) + _print_poses(env) + except ValueError: + print(f" Invalid value: {cmd[1]}") + elif cmd[0] in axis_map: + if len(cmd) < 2: + print(f" Usage: {cmd[0]} (e.g. {cmd[0]} 0.01)") + else: + try: + delta = float(cmd[1]) + _move_plug(env, axis_map[cmd[0]], delta) + _print_poses(env) + except ValueError: + print(f" Invalid value: {cmd[1]}") + else: + print(" Unknown command. Type 'q' to quit, 'p' for poses, 'x/y/z ' to move plug.") + return False + + +def main(): + env_cfg, _ = resolve_task_config(TASK, "") + + with launch_simulation(env_cfg, args_cli): + env_cfg.scene.num_envs = args_cli.num_envs + env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device + + env = gym.make(TASK, cfg=env_cfg) + env.reset() + + actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) + step_count = 0 + slow_mode = True + step_delay = args_cli.step_delay + + print(HELP) + _print_poses(env) + print(f"\nSimulation running (slow mode, {step_delay}s/step). Type commands anytime.\n") + + while True: + line = _check_stdin() + if line is not None: + result = _handle_command(line, env) + if result is True: + break + elif result == "fast": + slow_mode = False + elif result == "slow": + slow_mode = True + + with torch.inference_mode(): + env.step(actions) + step_count += 1 + + if slow_mode: + time.sleep(step_delay) + + env.close() + + +if __name__ == "__main__": + main() diff --git a/scripts/find_dp_insertion.py b/scripts/find_dp_insertion.py new file mode 100644 index 000000000000..35ed3e2b3a58 --- /dev/null +++ b/scripts/find_dp_insertion.py @@ -0,0 +1,188 @@ +"""Find the plug orientation+position that nests the plug blade in the socket +cavity, working in the LIVE env (so every transform - env, init_state, asset +internal, scale - is baked in). + +Method: express the socket cavity (Body4 u Body5) AABB in socket-root-local +space, and the plug blade (Body1) points in plug-root-local space. For each of +the 24 axis-aligned rotations, rotate the blade, align its centroid to the +cavity centroid, and count the fraction of blade points that fall inside the +cavity AABB. The best rotation is the mating orientation. Report the plug WORLD +quaternion (w,x,y,z) and seated position. + +Usage: + ./isaaclab.sh -p scripts/find_dp_insertion.py --headless +""" + +import argparse +import itertools +import sys + +import numpy as np + +import isaaclab_tasks # noqa: F401 +from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config + +TASK = "Isaac-Deploy-DisplayportBasic-v0" +OUT = open("/home/shauryad/output_dir/dp_find.txt", "w") + +parser = argparse.ArgumentParser() +parser.add_argument("--num_envs", type=int, default=1) +add_launcher_args(parser) +args_cli, hydra_args = parser.parse_known_args() +sys.argv = [sys.argv[0]] + hydra_args + + +def log(*a): + m = " ".join(str(x) for x in a) + print(m) + OUT.write(m + "\n") + OUT.flush() + + +def rot_group_24(): + """Yield the 24 proper (det=+1) axis-aligned rotation matrices.""" + seen = [] + for perm in itertools.permutations(range(3)): + for signs in itertools.product((1, -1), repeat=3): + M = np.zeros((3, 3)) + for col, (row, s) in enumerate(zip(perm, signs)): + M[row, col] = s + if abs(np.linalg.det(M) - 1.0) < 1e-6: + seen.append(M) + return seen + + +def mat_to_quat_wxyz(R): + t = np.trace(R) + if t > 0: + s = np.sqrt(t + 1.0) * 2 + w = 0.25 * s + x = (R[2, 1] - R[1, 2]) / s + y = (R[0, 2] - R[2, 0]) / s + z = (R[1, 0] - R[0, 1]) / s + else: + i = np.argmax([R[0, 0], R[1, 1], R[2, 2]]) + if i == 0: + s = np.sqrt(1.0 + R[0, 0] - R[1, 1] - R[2, 2]) * 2 + w = (R[2, 1] - R[1, 2]) / s + x = 0.25 * s + y = (R[0, 1] + R[1, 0]) / s + z = (R[0, 2] + R[2, 0]) / s + elif i == 1: + s = np.sqrt(1.0 - R[0, 0] + R[1, 1] - R[2, 2]) * 2 + w = (R[0, 2] - R[2, 0]) / s + x = (R[0, 1] + R[1, 0]) / s + y = 0.25 * s + z = (R[1, 2] + R[2, 1]) / s + else: + s = np.sqrt(1.0 - R[0, 0] - R[1, 1] + R[2, 2]) * 2 + w = (R[1, 0] - R[0, 1]) / s + x = (R[0, 2] + R[2, 0]) / s + y = (R[1, 2] + R[2, 1]) / s + z = 0.25 * s + q = np.array([w, x, y, z]) + return q / np.linalg.norm(q) + + +def body_world_points(stage, root_path, body_names): + from pxr import Usd, UsdGeom + + cache = UsdGeom.XformCache() + pred = Usd.TraverseInstanceProxies(Usd.PrimDefaultPredicate) + pts = [] + root = stage.GetPrimAtPath(root_path) + for prim in Usd.PrimRange(root, pred): + if not prim.IsA(UsdGeom.Mesh): + continue + if prim.GetParent().GetName() not in body_names: + continue + local = np.array(UsdGeom.Mesh(prim).GetPointsAttr().Get(), dtype=np.float64) + m = np.array(cache.GetLocalToWorldTransform(prim), dtype=np.float64).reshape(4, 4) + w = (np.c_[local, np.ones(len(local))] @ m)[:, :3] + pts.append(w) + return np.vstack(pts) if pts else np.zeros((0, 3)) + + +def root_world_matrix(stage, root_path): + from pxr import UsdGeom + + cache = UsdGeom.XformCache() + return np.array(cache.GetLocalToWorldTransform(stage.GetPrimAtPath(root_path)), dtype=np.float64).reshape(4, 4) + + +def main(): + import gymnasium as gym + + env_cfg, _ = resolve_task_config(TASK, "") + with launch_simulation(env_cfg, args_cli): + env_cfg.scene.num_envs = args_cli.num_envs + env = gym.make(TASK, cfg=env_cfg) + env.reset() + from isaaclab.sim.utils import get_current_stage + + stage = get_current_stage() + plug_path = "/World/envs/env_0/DisplayPortPlug" + sock_path = "/World/envs/env_0/DisplayPortSocket" + + # socket-root world frame + Ts = root_world_matrix(stage, sock_path) + Rs = Ts[:3, :3] + Rs = Rs / np.linalg.norm(Rs, axis=0) # normalize (strip scale) columns + ts = Ts[3, :3] if Ts.shape == (4, 4) else Ts[:3, 3] + # USD row-vector convention: world = [p,1] @ M, translation in M[3,:3] + ts = Ts[3, :3] + + def to_socket_local(world_pts): + return (world_pts - ts) @ Rs # Rs columns are socket axes in world + + cavity_w = body_world_points(stage, sock_path, {"Body4", "Body5"}) + blade_w = body_world_points(stage, plug_path, {"Body1"}) + log(f"cavity points={len(cavity_w)} blade points={len(blade_w)}") + + cav_local = to_socket_local(cavity_w) + cav_min, cav_max = cav_local.min(0), cav_local.max(0) + cav_ctr = 0.5 * (cav_min + cav_max) + cav_ext = cav_max - cav_min + log(f"cavity socket-local AABB (mm): min={np.round(cav_min*1000,2)} max={np.round(cav_max*1000,2)} ext={np.round(cav_ext*1000,2)}") + + # blade in plug-root-local + Tp = root_world_matrix(stage, plug_path) + Rp = Tp[:3, :3] + Rp = Rp / np.linalg.norm(Rp, axis=0) + tp = Tp[3, :3] + blade_plocal = (blade_w - tp) @ Rp + blade_pc = blade_plocal.mean(0) + + best = None + for R in rot_group_24(): + # blade expressed in socket-local if plug-root is rotated by R relative to socket + b = (blade_plocal - blade_pc) @ R.T # rotate + b = b - b.mean(0) + cav_ctr # align centroid to cavity center + inside = np.all((b >= cav_min - 0.0005) & (b <= cav_max + 0.0005), axis=1) + frac = inside.mean() + ext = b.max(0) - b.min(0) + # prefer high containment AND blade longer than cavity along one axis (it protrudes out the opening) + if best is None or frac > best[1]: + best = (R, frac, ext) + + R_best, frac, ext = best + log(f"\nbest blade-in-cavity fraction={frac:.3f} blade ext in socket-local(mm)={np.round(ext*1000,2)}") + # plug world rotation = socket world rotation * R_best + Rworld = Rs @ R_best + q = mat_to_quat_wxyz(Rworld) + log(f"plug WORLD quat (w,x,y,z) = ({q[0]:+.5f}, {q[1]:+.5f}, {q[2]:+.5f}, {q[3]:+.5f})") + + # seated position: place plug root so blade centroid -> cavity centroid (world), + # backed off slightly along world up (+Z) so a gravity drop finishes the insert. + blade_ctr_world_offset = (Rworld @ (blade_pc)) if False else None + cav_ctr_world = cav_ctr @ Rs.T + ts + # plug root must be placed so that (R_best applied) blade centroid lands at cavity center. + # world position of plug root = cav_ctr_world - Rworld @ blade_pc + plug_pos = cav_ctr_world - Rworld @ blade_pc + log(f"seated plug WORLD pos (m) = ({plug_pos[0]:+.5f}, {plug_pos[1]:+.5f}, {plug_pos[2]:+.5f})") + log(f" (socket origin world z={ts[2]:.4f}; cavity center world z={cav_ctr_world[2]:.4f})") + log("\nDONE") + + +if __name__ == "__main__": + main() diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/__init__.py new file mode 100644 index 000000000000..d0e2177ddcd7 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/__init__.py @@ -0,0 +1,19 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import gymnasium as gym + +## +# Register Gym environments. +## + +gym.register( + id="Isaac-Deploy-DisplayportBasic-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.displayport_basic_env_cfg:DisplayportBasicEnvCfg", + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py new file mode 100644 index 000000000000..66421ac4fe9b --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py @@ -0,0 +1,267 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Passive drop-test environment for DisplayPort plug/socket assets. + +No robot, no actions. The plug starts above the socket and falls under +gravity — use this to visually verify asset stability and insertion +feasibility before wiring into a full RL environment. +""" + +import os + +from isaaclab_physx.physics import PhysxCfg + +import isaaclab.sim as sim_utils +from isaaclab.assets import AssetBaseCfg, RigidObjectCfg +from isaaclab.envs import ManagerBasedRLEnvCfg +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import ObservationGroupCfg as ObsGroup +from isaaclab.managers import ObservationTermCfg as ObsTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.scene import InteractiveSceneCfg +from isaaclab.sim.simulation_cfg import SimulationCfg +from isaaclab.utils import configclass + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp + +# --------------------------------------------------------------------------- +# Asset paths +# --------------------------------------------------------------------------- +CABLE_INSERTION_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..") +DISPLAY_ASSETS_DIR = os.path.join(CABLE_INSERTION_DIR, "display_cable_insertion_assets") + +# --------------------------------------------------------------------------- +# Plug orientation for drop test +# --------------------------------------------------------------------------- +# The DisplayPort plug has a 90-degree physical turn (right-angle connector). +# We apply the same rotation convention as the GB300 cable insertion env: +# euler(180, 0, -90) → flip plug 180° around X (face downward toward socket) +# then rotate -90° around Z (account for the 90° connector turn). +# Quaternion in (x, y, z, w) format. +PLUG_DROP_ROT = (0.70711, 0.70711, 0.0, 0.0) + +# Alternative rotations to try if the default doesn't align the connector: +# Pure 180° X flip (no Z correction): (1.0, 0.0, 0.0, 0.0) +# euler(180, 0, +90): (0.70711, 0.70711, 0.0, 0.0) +# Identity (no rotation): (0.0, 0.0, 0.0, 1.0) + +SOCKET_HEIGHT = 0.15 # metres above ground +PLUG_CLEARANCE = 0.02 # metres above socket opening + + +# Lazy-loaded custom spawner that applies physics APIs to the root prim. +# Referenced as a string so pxr is not imported at config-resolution time. +_SPAWNER = ( + "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion" + ".config.displayport_basic.spawners:spawn_usd_with_physics" +) + + +## +# Asset Configurations +## + + +@configclass +class DisplayPortPlug(RigidObjectCfg): + """DisplayPort right-angle plug — dynamic, falls under gravity.""" + + prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" + spawn = sim_utils.UsdFileCfg( + func=_SPAWNER, + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), + scale=(0.01, 0.01, 0.01), + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + kinematic_enabled=False, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + mass_props=sim_utils.MassPropertiesCfg(mass=0.03), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.001, rest_offset=0.0), + ) + init_state = RigidObjectCfg.InitialStateCfg( + pos=(0.0, 0.0, SOCKET_HEIGHT + 0.05), + rot=PLUG_DROP_ROT, + ) + + +@configclass +class DisplayPortSocket(RigidObjectCfg): + """DisplayPort socket — kinematic (fixed in place).""" + + prim_path = "{ENV_REGEX_NS}/DisplayPortSocket" + spawn = sim_utils.UsdFileCfg( + func=_SPAWNER, + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584N111_Displayport Cord_socket_screws_removed_material_physics.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), + scale=(0.01, 0.01, 0.01), + activate_contact_sensors=False, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + kinematic_enabled=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + mass_props=sim_utils.MassPropertiesCfg(mass=None), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.001, rest_offset=0.0), + ) + init_state = RigidObjectCfg.InitialStateCfg( + pos=(0.0, 0.0, SOCKET_HEIGHT), + rot=(0.5, 0.5, 0.5, -0.5), + ) + + +## +# Scene +## + + +@configclass +class DisplayportBasicSceneCfg(InteractiveSceneCfg): + """Minimal scene: DisplayPort plug + socket, ground, and light. No robot.""" + + replicate_physics = False + + ground = AssetBaseCfg( + prim_path="/World/ground", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0)), + ) + + dp_plug = DisplayPortPlug() + dp_socket = DisplayPortSocket() + + light = AssetBaseCfg( + prim_path="/World/light", + spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2500.0), + ) + + +## +# MDP — minimal (no robot, no actions) +## + + +@configclass +class ActionsCfg: + """No actions — passive drop test.""" + + pass + + +@configclass +class ObservationsCfg: + """Track plug and socket pose for monitoring the drop.""" + + @configclass + class PolicyCfg(ObsGroup): + plug_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_plug")}, + ) + plug_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("dp_plug")}, + ) + socket_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + socket_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + + def __post_init__(self): + self.enable_corruption = False + self.concatenate_terms = True + + policy: PolicyCfg = PolicyCfg() + + +@configclass +class EventCfg: + """Reset to initial pose on episode boundary.""" + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + +@configclass +class RewardsCfg: + """No rewards — observation-only test.""" + + pass + + +@configclass +class TerminationsCfg: + """End episode after timeout so the scene resets and replays the drop.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + +## +# Environment configuration +## + + +@configclass +class DisplayportBasicEnvCfg(ManagerBasedRLEnvCfg): + """Passive drop-test environment for DisplayPort plug/socket assets. + + The plug starts above the socket and falls under gravity. + No robot, no actions — just physics simulation to validate asset + geometry, collision meshes, and insertion feasibility. + """ + + scene: DisplayportBasicSceneCfg = DisplayportBasicSceneCfg(num_envs=1, env_spacing=2.5) + observations: ObservationsCfg = ObservationsCfg() + actions: ActionsCfg = ActionsCfg() + rewards: RewardsCfg = RewardsCfg() + terminations: TerminationsCfg = TerminationsCfg() + events: EventCfg = EventCfg() + sim: SimulationCfg = SimulationCfg( + physics_material=sim_utils.RigidBodyMaterialCfg( + friction_combine_mode="multiply", + restitution_combine_mode="multiply", + static_friction=1.0, + dynamic_friction=1.0, + restitution=0.0, + ), + physics=PhysxCfg( + bounce_threshold_velocity=0.2, + friction_offset_threshold=0.01, + friction_correlation_distance=0.00625, + gpu_collision_stack_size=2**30, + gpu_max_rigid_contact_count=2**23, + gpu_max_rigid_patch_count=2**23, + ), + ) + + def __post_init__(self): + self.episode_length_s = 10.0 + self.viewer.eye = (0.3, 0.3, 0.3) + self.viewer.lookat = (0.0, 0.0, SOCKET_HEIGHT) + self.decimation = 1 + self.sim.render_interval = 1 + self.sim.dt = 1.0 / 240.0 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py new file mode 100644 index 000000000000..adac7ebc7587 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py @@ -0,0 +1,191 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Custom spawner for DisplayPort USD assets. + +This module is intentionally separate from the env cfg to avoid importing +``pxr`` before ``SimulationApp`` starts. It is referenced via a string +in the ``UsdFileCfg.func`` field and only loaded at scene-creation time. +""" + +from __future__ import annotations + +from pxr import Usd, UsdGeom, UsdPhysics + +from isaaclab.sim import schemas +from isaaclab.sim.schemas import schemas_cfg +from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg +from isaaclab.sim.utils import clone, create_prim, get_current_stage +from isaaclab.utils.assets import check_file_path, retrieve_file_path + + +def _deinstance(stage, root_path: str): + """Make instanced geometry under ``root_path`` concrete (editable). + + Some simready assets (e.g. the DisplayPort plug) ship their geometry as USD + instances. Instanced prims are shared, read-only proxies that + ``Usd.PrimRange`` does not descend into, so the per-mesh physics authoring + below would silently skip them and the asset would keep its source-authored + collider (convexHull). Setting ``instanceable = False`` de-instances the + subtree so every mesh becomes a concrete prim we can author on. Runs in + bounded passes to handle nested instances. + """ + root_prim = stage.GetPrimAtPath(root_path) + for _ in range(8): + instances = [prim for prim in Usd.PrimRange(root_prim) if prim.IsInstance()] + if not instances: + break + for prim in instances: + prim.SetInstanceable(False) + + +def _strip_child_rigid_bodies(stage, root_path: str): + """Remove RigidBodyAPI from every descendant prim so only the root carries it.""" + root_prim = stage.GetPrimAtPath(root_path) + for prim in Usd.PrimRange(root_prim): + if prim.GetPath() == root_prim.GetPath(): + continue + if prim.HasAPI(UsdPhysics.RigidBodyAPI): + prim.RemoveAPI(UsdPhysics.RigidBodyAPI) + + +def _remove_embedded_physics_scenes(stage, root_path: str): + """Remove any PhysicsScene prims embedded inside the asset. + + Simready assets may ship with their own PhysicsScene which conflicts + with the scene created by Isaac Lab. + """ + root_prim = stage.GetPrimAtPath(root_path) + to_remove = [] + for prim in Usd.PrimRange(root_prim): + if prim.GetTypeName() == "PhysicsScene": + to_remove.append(str(prim.GetPath())) + for path in to_remove: + stage.RemovePrim(path) + + +def _disable_internal_collision_bodies(stage, root_path: str): + """Disable collision on internal socket bodies that block insertion. + + Body4 (inner frame) and Body5 (cavity tongue) require sub-millimeter + alignment precision. Disabling them allows the outer housing (Body8) + to provide the primary insertion constraint while we iterate on alignment. + """ + DISABLE_BODIES = {"Body4", "Body5"} + root_prim = stage.GetPrimAtPath(root_path) + for prim in Usd.PrimRange(root_prim): + if not prim.IsA(UsdGeom.Mesh): + continue + parent_name = prim.GetParent().GetName() if prim.GetParent() else "" + if parent_name in DISABLE_BODIES and prim.HasAPI(UsdPhysics.CollisionAPI): + prim.GetAttribute("physics:collisionEnabled").Set(False) + + +def _apply_mesh_collision_to_meshes(stage, root_path: str, mesh_collision_cfg): + """Apply a mesh collision approximation to meshes that already have CollisionAPI. + + Only modifies meshes that were explicitly marked for collision in the + original USD. This avoids accidentally adding collision to large-scale + visual duplicate meshes present in simready assets. + """ + root_prim = stage.GetPrimAtPath(root_path) + for prim in Usd.PrimRange(root_prim): + if not prim.IsA(UsdGeom.Mesh): + continue + if not prim.HasAPI(UsdPhysics.CollisionAPI): + continue + prim_path = str(prim.GetPath()) + schemas.define_mesh_collision_properties(prim_path, mesh_collision_cfg, stage) + + +def _apply_collision_props_recursive(stage, root_path: str, collision_props): + """Apply collision properties to every prim that has CollisionAPI.""" + root_prim = stage.GetPrimAtPath(root_path) + for prim in Usd.PrimRange(root_prim): + if prim.HasAPI(UsdPhysics.CollisionAPI): + schemas.modify_collision_properties(str(prim.GetPath()), collision_props) + + +@clone +def spawn_usd_with_physics( + prim_path: str, + cfg: UsdFileCfg, + translation: tuple[float, float, float] | None = None, + orientation: tuple[float, float, float, float] | None = None, + **kwargs, +) -> Usd.Prim: + """Load a DisplayPort USD and set up physics APIs. + + Handles both preprocessed (fixed) and simready assets by: + 1. Removing embedded PhysicsScene prims + 2. Stripping child RigidBodyAPI so only the root carries it + 3. Applying RigidBody + Mass on root + 4. Applying collision properties recursively to all collision prims + 5. Choosing a mesh collision approximation per body: kinematic (fixed) + bodies get an exact triangle-mesh collider; dynamic bodies get SDF + """ + usd_path = cfg.usd_path + file_status = check_file_path(usd_path) + if file_status == 0: + raise FileNotFoundError(f"USD file not found: {usd_path}") + if file_status == 2: + usd_path = retrieve_file_path(usd_path, force_download=False) + + stage = get_current_stage() + if not stage.GetPrimAtPath(prim_path).IsValid(): + create_prim( + prim_path, + usd_path=usd_path, + translation=translation, + orientation=orientation, + scale=cfg.scale, + stage=stage, + ) + + # De-instance first so all subsequent authoring reaches instanced geometry + # (the plug ships its meshes as USD instances). + _deinstance(stage, prim_path) + + _remove_embedded_physics_scenes(stage, prim_path) + _strip_child_rigid_bodies(stage, prim_path) + + if cfg.rigid_props is not None: + schemas.define_rigid_body_properties(prim_path, cfg.rigid_props) + if cfg.mass_props is not None: + schemas.define_mass_properties(prim_path, cfg.mass_props) + + # If no mesh in the asset has CollisionAPI, add it to all meshes + # (handles preprocessed/fixed USDs with no collision setup). + # If some meshes already have it (simready), only those get a collider. + root_prim = stage.GetPrimAtPath(prim_path) + has_any_collision = any( + p.HasAPI(UsdPhysics.CollisionAPI) + for p in Usd.PrimRange(root_prim) + if p.IsA(UsdGeom.Mesh) + ) + if not has_any_collision: + for p in Usd.PrimRange(root_prim): + if p.IsA(UsdGeom.Mesh): + UsdPhysics.CollisionAPI.Apply(p) + + # Pick the mesh collision approximation per body. Kinematic (fixed) bodies + # such as the socket can use an exact triangle-mesh collider, which - unlike + # SDF - does not require a watertight surface. The converted CAD socket + # meshes are not watertight (open boundary edges), so an SDF collider yields + # a leaky signed-distance field and unstable contact. PhysX does not allow + # triangle-mesh colliders on dynamic bodies, so the dynamic plug keeps SDF. + is_kinematic = cfg.rigid_props is not None and bool(cfg.rigid_props.kinematic_enabled) + if is_kinematic: + mesh_collision_cfg = schemas_cfg.TriangleMeshPropertiesCfg() + else: + # Higher SDF resolution resolves the connector's thin shell / fine + # features; default (256) is marginal for sub-millimetre mating geometry. + mesh_collision_cfg = schemas_cfg.SDFMeshPropertiesCfg(sdf_resolution=512) + _apply_mesh_collision_to_meshes(stage, prim_path, mesh_collision_cfg) + + if cfg.collision_props is not None: + _apply_collision_props_recursive(stage, prim_path, cfg.collision_props) + + return stage.GetPrimAtPath(prim_path) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step new file mode 100644 index 000000000000..112e346026e8 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step @@ -0,0 +1,35031 @@ +ISO-10303-21; +HEADER; +/* Generated by software containing ST-Developer + * from STEP Tools, Inc. 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+'Maximum model space distance between geometric entities at asserted c +onnectivities'); +#42775=( +GEOMETRIC_REPRESENTATION_CONTEXT(3) +GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#42773)) +GLOBAL_UNIT_ASSIGNED_CONTEXT((#42778,#42782,#42783)) +REPRESENTATION_CONTEXT('','3D') +); +#42776=( +GEOMETRIC_REPRESENTATION_CONTEXT(3) +GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#42774)) +GLOBAL_UNIT_ASSIGNED_CONTEXT((#42778,#42782,#42783)) +REPRESENTATION_CONTEXT('','3D') +); +#42777=DIMENSIONAL_EXPONENTS(1.,0.,0.,0.,0.,0.,0.); +#42778=( +CONVERSION_BASED_UNIT('inch',#42781) +LENGTH_UNIT() +NAMED_UNIT(#42777) +); +#42779=( +LENGTH_UNIT() +NAMED_UNIT(*) +SI_UNIT(.MILLI.,.METRE.) +); +#42780=( +LENGTH_UNIT() +NAMED_UNIT(*) +SI_UNIT($,.METRE.) +); +#42781=LENGTH_MEASURE_WITH_UNIT(LENGTH_MEASURE(25.4),#42779); +#42782=( +NAMED_UNIT(*) +PLANE_ANGLE_UNIT() +SI_UNIT($,.RADIAN.) +); +#42783=( +NAMED_UNIT(*) +SI_UNIT($,.STERADIAN.) +SOLID_ANGLE_UNIT() +); +#42784=SHAPE_DEFINITION_REPRESENTATION(#42785,#42786); +#42785=PRODUCT_DEFINITION_SHAPE('',$,#42788); +#42786=SHAPE_REPRESENTATION('',(#22077),#42775); +#42787=PRODUCT_DEFINITION_CONTEXT('part definition',#42792,'design'); +#42788=PRODUCT_DEFINITION('2584N111_Displayport Cord', +'2584N111_Displayport Cord_socket_screws_removed',#42789,#42787); +#42789=PRODUCT_DEFINITION_FORMATION('',$,#42794); +#42790=PRODUCT_RELATED_PRODUCT_CATEGORY( +'2584N111_Displayport Cord_socket_screws_removed', +'2584N111_Displayport Cord_socket_screws_removed',(#42794)); +#42791=APPLICATION_PROTOCOL_DEFINITION('international standard', +'automotive_design',2009,#42792); +#42792=APPLICATION_CONTEXT( +'Core Data for Automotive Mechanical Design Process'); +#42793=PRODUCT_CONTEXT('part definition',#42792,'mechanical'); +#42794=PRODUCT('2584N111_Displayport Cord', +'2584N111_Displayport Cord_socket_screws_removed','STEP AP203',(#42793)); +#42795=PRESENTATION_STYLE_ASSIGNMENT((#42796)); +#42796=SURFACE_STYLE_USAGE(.BOTH.,#42797); +#42797=SURFACE_SIDE_STYLE('',(#42798)); +#42798=SURFACE_STYLE_FILL_AREA(#42799); +#42799=FILL_AREA_STYLE('Steel - Satin',(#42800)); +#42800=FILL_AREA_STYLE_COLOUR('Steel - Satin',#42801); +#42801=COLOUR_RGB('Steel - Satin',0.627450980392157,0.627450980392157,0.627450980392157); +ENDSEC; +END-ISO-10303-21; diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml new file mode 100644 index 000000000000..89aca9f363f5 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml @@ -0,0 +1,147 @@ +project: + name: "displayport_cord_material_assignment" + session_id: "displayport_cord_material" + working_dir: ".displayport_cord_material" + description: "Assign visual materials to the converted McMaster-Carr 2584N111 DisplayPort cord USD." + +input: + usd_path: "/home/horde/cad2simready_runs/displayport_cord_20260513/output/conversion/2584N111_Displayport_Cord.usd" + reference_images: [] + +output: + layer_only: false + flatten_output: false + +materials: + path: "../content-agents-main/apps/material_agent/data/materials/material_libs_default/materials.yaml" + +steps: + validate_input: + enabled: true + on_failure: warn + + optimize_usd: + enabled: false + + build_dataset_usd: + renderer: + backend: ovrtx + image_width: 512 + image_height: 512 + cull_style: back + should_highlight_prim: false + should_assign_random_colors: true + highlight_color: [0.7, 0.0, 0.0] + other_color_range: [0.35, 0.35] + rendering_modes: + prim_only: + margin: 1.2 + cameras: ["+x+y+z", "-x-y-z"] + camera_focus_mode: prim + composition: + margin: 6.0 + cameras: ["+x", "+y", "+z"] + camera_focus_mode: stage + skip_occluded_images: false + prim_filters: + types: + - "UsdGeom.Mesh" + - "UsdGeom.Cube" + - "UsdGeom.Cylinder" + - "UsdGeom.Capsule" + - "UsdGeom.Sphere" + - "UsdGeom.Cone" + skip_instances: false + extract_material_bindings: true + extract_hierarchy: true + extract_metadata: true + build_usd_model: true + export_usd_model: true + skip_existing: true + batch_size: 16 + + build_dataset_pdf_vectorstore: + enabled: false + + build_dataset_prepare_dataset: + enabled: true + include_ground_truth: false + include_prim_path_context: true + pdf_conversion: + dpi: 150 + format: "png" + first_page: 1 + last_page: 2 + prompts: + vlm_system: | + You are an expert at identifying object parts and assigning plausible visual materials for simulation USD assets. + The asset is a McMaster-Carr 2584N111 DisplayPort cord/cable converted from CAD. Prefer black polymer or rubber-like cable jacket and molded connector housings, with metal shells or pins where geometry indicates connector hardware. + Use the available material list and choose the closest matching material. Mark uncertain assumptions through conservative choices. + + Available materials: + {materials_list} + + Respond as structured JSON: + {{ + "material": "material name" + }} + vlm_user: | + Identify the highlighted part of the DisplayPort cord and select the most appropriate material from the predefined list. + Focus on geometry, position, and part function. Do not overfit to random render colors. + + Additional context: + {context} + vlm_image_prompts: + prim_only: "This is a rendered part of interest only without highlighting." + composition: "This is an orthographic view of the object with the part of interest highlighted with an orange outline." + + cluster_prims: + enabled: false + + predict: + prediction_batch_size: 1 + vlm: + backend: nim + model: qwen/qwen3.5-397b-a17b + temperature: 0.3 + max_completion_tokens: 4096 + max_workers: 8 + llm: + backend: nim + model: qwen/qwen3.5-397b-a17b + temperature: 0.1 + max_tokens: 512 + report: + image_max_size: 256 + image_format: jpeg + image_quality: 75 + + validate_predictions: + enabled: true + + harmonize_predictions: + enabled: true + + apply: + layer_only: false + flatten_output: false + + restore_usd: + enabled: false + + validate_output: + enabled: true + on_failure: warn + + render: + enabled: true + backend: ovrtx + image_width: 1024 + image_height: 1024 + camera_corners: ["+x+y+z", "-x-y-z"] + camera_margin: 1.0 + background_color: [1.0, 1.0, 1.0] + +advanced: + keep_temp_files: true + log_level: INFO diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml new file mode 100644 index 000000000000..79dde7a6cc18 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml @@ -0,0 +1,113 @@ +project: + name: "displayport_cord_physics_assignment" + session_id: "displayport_cord_physics" + working_dir: ".displayport_cord_physics" + description: "Assign physics properties to the material-assigned McMaster-Carr 2584N111 DisplayPort cord USD." + +input: + usd_path: "/home/horde/cad2simready_runs/displayport_cord_20260513/content_agent_configs/.displayport_cord_material/output/output.usd" + reference_images: [] + +steps: + optimize_usd: + enabled: false + + identify_asset: + enabled: true + renderer: + backend: ovrtx + image_width: 512 + image_height: 512 + cameras: ["+x+y+z", "-x+y+z", "-x-y+z", "+x-y+z"] + + build_dataset_usd: + enabled: true + renderer: + backend: ovrtx + image_width: 512 + image_height: 512 + log_level: warn + camera_view_type: corner + rendering_modes: + prim_only: + margin: 1.2 + cameras: ["+x+y+z", "-x-y-z"] + camera_focus_mode: prim + use_original_materials: true + should_highlight_prim: false + should_assign_random_colors: true + prim_filters: + types: ["UsdGeom.Mesh"] + skip_instances: false + skip_prototypes: false + extract_hierarchy: true + extract_metadata: true + skip_existing: true + batch_size: 64 + num_workers: 1 + + build_dataset_prepare_dataset: + enabled: true + include_prim_path_context: true + include_geometric_context: true + prompts: + system: | + You are an expert 3D asset analyst assigning physical simulation properties to USD components. + The overall asset is a McMaster-Carr 2584N111 DisplayPort cord/cable: flexible black cable jacket, molded connector housings, and metal connector shells/pins. + Use geometry, component function, and dimensions to estimate conservative physical properties suitable for simulation. + + Physical properties to estimate: + - density in kg/m^3 + - estimated_mass_kg using density, component bounding-box volume, and realistic fill factor + - static_friction from 0.0 to 1.0 + - dynamic_friction from 0.0 to 1.0 + - restitution from 0.0 to 1.0 + + Flexible cable sections should generally be rubber/plastic-like with low mass, high friction, and low to moderate restitution. + Metal connector shells or contacts should generally be metal with higher density, medium friction, and low restitution. + + Respond with JSON nested under the exact key "classification": + {{ + "classification": {{ + "asset_type": "cable assembly", + "component_type": "electrical", + "component_name": "descriptive component name", + "material": "material type", + "physical_properties": {{ + "density": 0, + "estimated_mass_kg": 0, + "static_friction": 0, + "dynamic_friction": 0, + "restitution": 0 + }}, + "confidence": "high/medium/low", + "reasoning": "brief explanation" + }} + }} + user: | + Classify this component of the DisplayPort cord and estimate physics properties for simulation. + vlm_image_prompts: + composition: "This is an orthographic view of the complete 3D model with the component highlighted." + prim_only_original: "This is a rendered view of the isolated component with its original materials preserved." + + predict: + enabled: true + vlm: + backend: nim + model: qwen/qwen3.5-397b-a17b + temperature: 0.3 + max_tokens: 2048 + max_workers: 2 + output_key: "classification" + report: + image_max_size: 256 + image_format: jpeg + image_quality: 75 + + apply_physics: + enabled: true + collision_approx: convexHull + +advanced: + keep_temp_files: true + log_level: INFO From ecb83781f2847d746c0755b4c11841faa339cfe4 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 8 Jun 2026 14:24:57 -0700 Subject: [PATCH 12/65] Env for displayport cable insertion and required fixes in asset loading. --- .../displayport_basic_env_cfg.py | 41 +- .../config/displayport_basic/spawners.py | 40 +- .../config/displayport_rizon_4s/__init__.py | 74 +++ .../displayport_rizon_4s/agents/__init__.py | 6 + .../agents/rsl_rl_ppo_cfg.py | 49 ++ .../displayport_rizon_4s/joint_pos_env_cfg.py | 383 ++++++++++++++++ .../ros_inference_env_cfg.py | 124 +++++ .../task_space_env_cfg.py | 428 ++++++++++++++++++ .../task_space_ros_inference_env_cfg.py | 125 +++++ .../displayport_cord_material.yaml | 5 + .../displayport_cord_physics.yaml | 5 + .../displayport_insertion_env_cfg.py | 367 +++++++++++++++ 12 files changed, 1624 insertions(+), 23 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py index 66421ac4fe9b..249c32f1a74c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py @@ -73,13 +73,23 @@ class DisplayPortPlug(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" spawn = sim_utils.UsdFileCfg( func=_SPAWNER, - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), - scale=(0.01, 0.01, 0.01), + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), + # The simready asset's raw geometry is in INCHES; its root carries an + # `xformOp:scale:meter_normalization=(0.0254,...)` (inch->metre). Isaac + # Lab's create_prim REPLACES that op with cfg.scale, so cfg.scale must be + # 0.0254 to reproduce the asset's intended real size (mating cavity + # ~16.7 mm = real DisplayPort). Earlier values were wrong: 1.0 -> 40x too + # big (~1.5 m); 0.01 -> 39% of true size (~6.6 mm cavity). + scale=(0.0254, 0.0254, 0.0254), activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, kinematic_enabled=False, - max_depenetration_velocity=5.0, + # Gentle depenetration: a high value (5.0) turns any residual contact + # overlap at the tight mate into an explosive ejection. 0.5 lets PhysX + # resolve overlaps smoothly without launching the plug. + max_depenetration_velocity=0.5, linear_damping=0.0, angular_damping=0.0, max_linear_velocity=1000.0, @@ -87,13 +97,22 @@ class DisplayPortPlug(RigidObjectCfg): enable_gyroscopic_forces=True, solver_position_iteration_count=128, solver_velocity_iteration_count=1, - max_contact_impulse=1e32, + # No max-impulse cap (1e32 effectively uncapped it but combined with a + # high depenetration velocity amplified contact blow-ups). Use the + # PhysX default by leaving it unset. + max_contact_impulse=None, ), mass_props=sim_utils.MassPropertiesCfg(mass=0.03), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.001, rest_offset=0.0), + # Tight DP mate: cavity-to-blade clearance is ~0.5 mm per side, so a 1 mm + # contact_offset kept the blade's contact shell permanently overlapping the + # cavity walls and slowly pushed the plug out. Use 0.3 mm. + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), ) + # NOTE: seated pose under verification (scripts/dp_verify_seated_geometry.py). + # The dp_insertion_test.py best-of-24 solver pose was geometrically wrong + # (blade floated ~22 mm beside the socket, not in the hole). rot is (w,x,y,z). init_state = RigidObjectCfg.InitialStateCfg( - pos=(0.0, 0.0, SOCKET_HEIGHT + 0.05), + pos=(0.0, 0.0, 0.2096), rot=PLUG_DROP_ROT, ) @@ -106,8 +125,11 @@ class DisplayPortSocket(RigidObjectCfg): spawn = sim_utils.UsdFileCfg( func=_SPAWNER, # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584N111_Displayport Cord_socket_screws_removed_material_physics.usd"), - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), - scale=(0.01, 0.01, 0.01), + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), + # See plug note: asset geometry is in inches; cfg.scale restores the + # importer's inch->metre normalization (0.0254) clobbered by create_prim. + scale=(0.0254, 0.0254, 0.0254), activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -123,7 +145,8 @@ class DisplayPortSocket(RigidObjectCfg): max_contact_impulse=1e32, ), mass_props=sim_utils.MassPropertiesCfg(mass=None), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.001, rest_offset=0.0), + # Match the plug's tight contact_offset (see plug note). + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), ) init_state = RigidObjectCfg.InitialStateCfg( pos=(0.0, 0.0, SOCKET_HEIGHT), diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py index adac7ebc7587..922f501bf7c4 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py @@ -160,29 +160,41 @@ def spawn_usd_with_physics( # (handles preprocessed/fixed USDs with no collision setup). # If some meshes already have it (simready), only those get a collider. root_prim = stage.GetPrimAtPath(prim_path) - has_any_collision = any( - p.HasAPI(UsdPhysics.CollisionAPI) - for p in Usd.PrimRange(root_prim) - if p.IsA(UsdGeom.Mesh) - ) + has_any_collision = any(p.HasAPI(UsdPhysics.CollisionAPI) for p in Usd.PrimRange(root_prim) if p.IsA(UsdGeom.Mesh)) if not has_any_collision: for p in Usd.PrimRange(root_prim): if p.IsA(UsdGeom.Mesh): UsdPhysics.CollisionAPI.Apply(p) - # Pick the mesh collision approximation per body. Kinematic (fixed) bodies - # such as the socket can use an exact triangle-mesh collider, which - unlike - # SDF - does not require a watertight surface. The converted CAD socket - # meshes are not watertight (open boundary edges), so an SDF collider yields - # a leaky signed-distance field and unstable contact. PhysX does not allow - # triangle-mesh colliders on dynamic bodies, so the dynamic plug keeps SDF. + # Pick the mesh collision approximation per body. + # + # Socket (kinematic): an exact triangle-mesh collider preserves the concave + # receptacle cavity (a convex hull would fill the opening, leaving no hole + # for the blade). Triangle mesh also does not require a watertight surface, + # which the converted CAD meshes are not. + # + # Plug (dynamic): must use SDF, not a convex approximation. The blade (Body1) + # is a hollow shroud whose recess RECEIVES the socket tongue (Body5); a convex + # hull fills that recess solid (it spans 92% of the blade bbox) and rams the + # tongue, ejecting the plug. SDF preserves the concave recess. PhysX forbids + # triangle-mesh colliders on dynamic bodies, so SDF is the only concave option. + # High resolution is needed for the connector's thin shroud / fine features. is_kinematic = cfg.rigid_props is not None and bool(cfg.rigid_props.kinematic_enabled) if is_kinematic: mesh_collision_cfg = schemas_cfg.TriangleMeshPropertiesCfg() else: - # Higher SDF resolution resolves the connector's thin shell / fine - # features; default (256) is marginal for sub-millimetre mating geometry. - mesh_collision_cfg = schemas_cfg.SDFMeshPropertiesCfg(sdf_resolution=512) + # convexDecomposition: solid convex pieces give reliable (non-leaky) + # contact, while the decomposition preserves the gross concavity (blade + # shroud recess + overmold underside recess) that the socket tongue and + # top face must tuck into. High voxel resolution + small min_thickness so + # the 0.4 mm shroud walls and recesses are not merged solid. + mesh_collision_cfg = schemas_cfg.ConvexDecompositionPropertiesCfg( + max_convex_hulls=128, + voxel_resolution=1_000_000, + min_thickness=0.0001, + hull_vertex_limit=64, + shrink_wrap=True, + ) _apply_mesh_collision_to_meshes(stage, prim_path, mesh_collision_cfg) if cfg.collision_props is not None: diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py new file mode 100644 index 000000000000..8ccb9b344958 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py @@ -0,0 +1,74 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import gymnasium as gym + +from . import agents + +## +# Register Gym environments. +## + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceDisplayportInsertionEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceDisplayportInsertionEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:Rizon4sGravDisplayportInsertionROSInferenceEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-ROS-Inference-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": ( + f"{__name__}.task_space_ros_inference_env_cfg:Rizon4sTaskSpaceDisplayportInsertionROSInferenceEnvCfg" + ), + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py new file mode 100644 index 000000000000..6fc9a6577ee8 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Package containing agent configurations for RL with Rizon 4s for DisplayPort insertion.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py new file mode 100644 index 000000000000..1c8f94ef4137 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py @@ -0,0 +1,49 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from isaaclab.utils import configclass + +from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg + + +@configclass +class Rizon4sGravDisplayportInsertionRNNPPORunnerCfg(RslRlOnPolicyRunnerCfg): + num_steps_per_env = 512 + max_iterations = 1500 + save_interval = 50 + experiment_name = "displayport_insertion_rizon4s" + clip_actions = 1.0 + resume = False + obs_groups = { + "policy": ["policy"], + "critic": ["critic"], + } + policy = RslRlPpoActorCriticRecurrentCfg( + state_dependent_std=True, + init_noise_std=1.0, + actor_obs_normalization=True, + critic_obs_normalization=True, + actor_hidden_dims=[256, 128, 64], + critic_hidden_dims=[256, 128, 64], + noise_std_type="log", + activation="elu", + rnn_type="lstm", + rnn_hidden_dim=256, + rnn_num_layers=2, + ) + algorithm = RslRlPpoAlgorithmCfg( + value_loss_coef=1.0, + use_clipped_value_loss=True, + clip_param=0.2, + entropy_coef=0.0, + num_learning_epochs=8, + num_mini_batches=16, + learning_rate=5.0e-4, + schedule="adaptive", + gamma=0.99, + lam=0.95, + desired_kl=0.008, + max_grad_norm=1.0, + ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py new file mode 100644 index 000000000000..43736514d686 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -0,0 +1,383 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Joint-space DisplayPort insertion environment for Flexiv Rizon 4S + Grav gripper. + +Mirrors the GB300 ``config/rizon_4s/joint_pos_env_cfg.py`` but builds on the +DisplayPort base env. Relative joint-position control of the 7-DoF arm; the +plug is grasped at reset and the goal is the verified seated mate. +""" + +import torch + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ImplicitActuatorCfg +from isaaclab.assets import ArticulationCfg, RigidObjectCfg +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.utils import configclass + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + DisplayportInsertionEnvCfg, + compute_plug_pose, + compute_socket_root, +) + +# --------------------------------------------------------------------------- +# Flexiv workspace layout (DisplayPort insertion station) +# --------------------------------------------------------------------------- +# Insertion(mate) point in the robot workspace, socket orientation (opening up, +# matching the verified drop-test seated pose), and the vertical clearance the +# plug starts above the socket. +# +# CALIBRATE: _GEOMETRY_POS is seeded from the GB300 Hubble cable-insertion +# station and must be re-measured for the real DisplayPort fixture (reachable by +# the Flexiv, socket opening facing +Z). Verify the reset poses against the live +# sim (see scripts/dp_probe_pose_geometry.py) before training. +_GEOMETRY_POS = (0.481, -0.073, 0.071) +_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) # opening faces +Z (top-down insertion) +_PLUG_CLEARANCE_Z = 0.068 + +_SOCKET_ROOT = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) +_PLUG_ROOT, _PLUG_ROT = compute_plug_pose( + _GEOMETRY_POS, _SOCKET_ROT, z_clearance=_PLUG_CLEARANCE_Z, +) + +## +# Pre-defined configs +## +from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip + + +## +# Gripper-specific helper functions +## + + +def set_finger_joint_pos_grav( + joint_pos: torch.Tensor, + reset_ind_joint_pos: list[int], + finger_joints: list[int], + finger_joint_position: float, +): + """Set finger joint positions for the Grav gripper. + + Args: + joint_pos: Joint positions tensor for the reset envs slice. + reset_ind_joint_pos: Row indices into the sliced ``joint_pos`` tensor. + finger_joints: List of all gripper joint indices (6 joints total). + finger_joint_position: Target position for the main finger joint [rad]. + + Note: + Grav gripper joint structure (indices from ``finger_joints`` list): + ``[0]`` ``finger_joint`` - main controllable joint + ``[1]`` ``left_inner_knuckle_joint`` - mimic with -1 gearing + ``[2]`` ``right_inner_knuckle_joint`` - mimic with -1 gearing + ``[3]`` ``right_outer_knuckle_joint`` - mimic with -1 gearing + ``[4]`` ``left_outer_finger_joint`` - mimic with +1 gearing + ``[5]`` ``right_outer_finger_joint`` - mimic with +1 gearing + """ + for idx in reset_ind_joint_pos: + if len(finger_joints) < 6: + raise ValueError(f"Grav gripper requires at least 6 finger joints, got {len(finger_joints)}") + + joint_pos[idx, finger_joints[0]] = finger_joint_position + + joint_pos[idx, finger_joints[1]] = finger_joint_position + joint_pos[idx, finger_joints[2]] = finger_joint_position + joint_pos[idx, finger_joints[3]] = finger_joint_position + + joint_pos[idx, finger_joints[4]] = -finger_joint_position + joint_pos[idx, finger_joints[5]] = -finger_joint_position + + +## +# Environment configuration +## + + +@configclass +class EventCfg: + """Configuration for events.""" + + plug_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("dp_plug", body_names=".*"), + "static_friction_range": (1.0, 1.0), + "dynamic_friction_range": (1.0, 1.0), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + socket_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("dp_socket", body_names=".*"), + "static_friction_range": (0.1, 0.1), + "dynamic_friction_range": (0.1, 0.1), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + robot_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), + "static_friction_range": (0.75, 0.75), + "dynamic_friction_range": (0.75, 0.75), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + randomize_socket_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], + "z": [-0.01, 0.01], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], + }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("dp_socket"), + }, + ) + + randomize_plug_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [-0.02, 0.02], + "y": [-0.02, 0.02], + "z": [-0.01, 0.01], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], + }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("dp_plug"), + }, + ) + + set_robot_to_grasp_pose = EventTerm( + func=mdp.set_robot_to_object_grasp_pose, + mode="reset", + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, + "target_object_name": "dp_plug", + "grasp_offset": [0.0, 0.0, 0.0], + }, + ) + + +@configclass +class TerminationsCfg: + """Configuration for termination terms.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + plug_dropped = DoneTerm( + func=cable_terminations.reset_when_plug_dropped, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("dp_plug"), + "distance_threshold": 0.15, + "end_effector_body_name": "link7", + "grasp_offset": [0.0, 0.0, 0.0], + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], + }, + ) + + plug_orientation_exceeded = DoneTerm( + func=cable_terminations.reset_when_plug_orientation_exceeded, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("dp_plug"), + "roll_threshold_deg": 15.0, + "pitch_threshold_deg": 15.0, + "yaw_threshold_deg": 180.0, + "end_effector_body_name": "link7", + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], + }, + ) + + +@configclass +class Rizon4sGravDisplayportInsertionEnvCfg(DisplayportInsertionEnvCfg): + """Flexiv Rizon 4s + Grav gripper DisplayPort insertion (joint-space).""" + + def __post_init__(self): + super().__post_init__() + + self.end_effector_body_name = "flange" + self.num_arm_joints = 7 + # CALIBRATE: flange position in the DisplayPort plug's local frame. + # Seeded from the GB300 grasp offset; the right-angle DP plug/overmold + # geometry differs, so verify the grasp lands on the plug body in sim + # before training (the grasp event solves IK toward plug + this offset). + self.grasp_offset = [0.0025, 0.0, -0.1875] + # Identity: the target EEF orientation equals the plug orientation. + self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] + self.gripper_joint_setter_func = set_finger_joint_pos_grav + + self.plug_orientation_roll_threshold_deg = 15.0 + self.plug_orientation_pitch_threshold_deg = 15.0 + self.plug_orientation_yaw_threshold_deg = 180.0 + + # Observation configuration for Rizon 4s arm joints only + self.observations.policy.joint_pos.params["asset_cfg"].joint_names = [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + ] + self.observations.policy.joint_vel.params["asset_cfg"].joint_names = [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + ] + + self.events = EventCfg() + + self.terminations = TerminationsCfg() + + self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( + self.plug_orientation_roll_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( + self.plug_orientation_pitch_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( + self.plug_orientation_yaw_threshold_deg + ) + + self.joint_action_scale = 0.025 + self.actions.arm_action = mdp.RelativeJointPositionActionCfg( + asset_name="robot", + joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"], + scale=self.joint_action_scale, + use_zero_offset=True, + ) + + self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + ), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), + ), + init_state=ArticulationCfg.InitialStateCfg( + joint_pos={ + "joint1": 0.0, + "joint2": -0.698, + "joint3": 0.0, + "joint4": 1.571, + "joint5": 0.0, + "joint6": 0.698, + "joint7": 0.0, + }, + pos=(0.0, 0.0, 0.0), + rot=(0.0, 0.0, 0.0, 1.0), + ), + ) + + # Grav gripper actuator configuration (implicit - PhysX built-in joint drives). + self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( + joint_names_expr=["finger_joint"], + effort_limit_sim=2.0, + velocity_limit_sim=1.0, + stiffness=2e3, + damping=1e1, + ) + + self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( + joint_names_expr=[".*_knuckle_joint"], + effort_limit_sim=1.0, + velocity_limit_sim=1.0, + stiffness=0.0, + damping=0.0, + ) + + self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=_SOCKET_ROOT, + rot=_SOCKET_ROT, + ) + self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=_PLUG_ROOT, + rot=_PLUG_ROT, + ) + + # Grav gripper widths (joint angles). + # grasp: fingers wide open for approach. + # hold: fingers touching plug surface (no mesh overlap). + # close: fully-closed target that the actuator drives toward. + # CALIBRATE: tune for the DisplayPort plug width. + self.hand_grasp_width = 0.3 + self.hand_hold_width = -0.05 + self.hand_close_width = -0.155 + + self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name + self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints + self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset + self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset + self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + + self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset + self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset + + self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset + + +@configclass +class Rizon4sGravDisplayportInsertionEnvCfg_PLAY(Rizon4sGravDisplayportInsertionEnvCfg): + """Play configuration for Flexiv Rizon 4s DisplayPort insertion.""" + + def __post_init__(self): + super().__post_init__() + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py new file mode 100644 index 000000000000..2c3306c685bd --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -0,0 +1,124 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Joint-space ROS inference configuration for DisplayPort insertion with Flexiv Rizon 4S. + +Inherits from the joint-space training config and adds Isaac Manipulator +metadata fields plus Hubble Lab deployment alignment. Mirrors the GB300 +``config/rizon_4s/ros_inference_env_cfg.py``. +""" + +import math + +from isaaclab.assets import RigidObjectCfg +from isaaclab.utils import configclass + +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + compute_plug_pose, + compute_socket_root, +) + +from .joint_pos_env_cfg import Rizon4sGravDisplayportInsertionEnvCfg + +# --------------------------------------------------------------------------- +# Hubble Lab socket/plug positions +# --------------------------------------------------------------------------- +# CALIBRATE: deployment values seeded from the GB300 cable-insertion ROS config. +# Re-measure the real DisplayPort fixture pose and the Flexiv mount for the +# actual station. The socket rotation keeps the verified DP orientation +# (opening facing +Z) used by the training configs. +_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) +_HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) +_HUBBLE_PLUG_CLEARANCE_Z = 0.068 + +_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) +_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( + _HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT, z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, +) + + +@configclass +class Rizon4sGravDisplayportInsertionROSInferenceEnvCfg(Rizon4sGravDisplayportInsertionEnvCfg): + """ROS / Isaac Manipulator inference fields plus deployment alignment for NVIDIA Hubble Lab. + + This configuration: + + - Exposes variables needed for Isaac Manipulator ROS inference. + - Aligns robot mounting pose with the Flexiv Rizon 4s installation at NVIDIA Hubble Lab + (wall-mount with 90 deg rotation about negative X-axis). + - Overrides plug and socket initial poses for a fixed/deterministic setup. + """ + + def __post_init__(self): + super().__post_init__() + + # Variables used by Isaac Manipulator for on-robot inference + self.obs_order = ["arm_dof_pos", "arm_dof_vel", "socket_pos", "socket_quat"] + self.policy_action_space = "joint" + self.arm_joint_names = self.observations.policy.joint_pos.params["asset_cfg"].joint_names + self.action_space = self.num_arm_joints + # State: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat + 3 plug pos + 4 plug quat = 28 + self.state_space = 28 + # Observation: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat = 21 + self.observation_space = 21 + + self.joint_action_scale = self.actions.arm_action.scale + self.action_scale_joint_space = [self.joint_action_scale] * self.action_space + + # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- + # CALIBRATE: home joint pose / mount seeded from GB300; align with the + # physical DisplayPort station before on-robot inference. + self.scene.robot.init_state.joint_pos = { + "joint1": math.radians(-90.0), + "joint2": math.radians(90.0), + "joint3": 0.0, + "joint4": math.radians(90.0), + "joint5": 0.0, + "joint6": 0.0, + "joint7": 0.0, + } + + # Orientation of robot is based on the Flexiv Rizon 4s mount in the Hubble Lab + self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) + self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) + + # Socket/plug positions account for the DisplayPort USD root-to-geometry offset. + self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=_HUBBLE_SOCKET_ROOT, + rot=_HUBBLE_SOCKET_ROT, + ) + + self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=_HUBBLE_PLUG_ROOT, + rot=_HUBBLE_PLUG_ROT, + ) + + # Increase IK iterations for the grasp event — the Hubble home pose is + # further from typical IK solutions than the table-mount default. + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + + # Fixed asset parameters for ROS inference (geometry center, not USD root) + self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) + + pose_range = self.events.randomize_socket_pose.params["pose_range"] + self.fixed_asset_init_pos_range = [ + pose_range["x"][1], + pose_range["y"][1], + pose_range["z"][1], + ] + # CALIBRATE: euler equivalent of the DP socket orientation at the station. + self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] + self.fixed_asset_init_orn_deg_range = [ + math.degrees(pose_range["roll"][1]), + math.degrees(pose_range["pitch"][1]), + math.degrees(pose_range["yaw"][1]), + ] + + socket_pos_noise = self.observations.policy.socket_pos.noise.noise_cfg.n_max + self.fixed_asset_pos_obs_noise_level = [ + socket_pos_noise, + socket_pos_noise, + socket_pos_noise, + ] diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py new file mode 100644 index 000000000000..f27aa401a3da --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -0,0 +1,428 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Task-space DisplayPort insertion environment for Flexiv Rizon 4S + Grav gripper. + +Uses Operational Space Control (OSC) with 6D rotation observations and an +at-goal curriculum, mirroring the GB300 ``task_space_env_cfg.py``. +""" + +import math + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ImplicitActuatorCfg +from isaaclab.assets import ArticulationCfg, RigidObjectCfg +from isaaclab.controllers.operational_space_cfg import OperationalSpaceControllerCfg +from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import ObservationGroupCfg as ObsGroup +from isaaclab.managers import ObservationTermCfg as ObsTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.utils import configclass + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + PLUG_GOAL_ROT, + PLUG_INSERTION_OFFSET, + SOCKET_INSERTION_OFFSET, + DisplayportInsertionEnvCfg, +) + +from .joint_pos_env_cfg import ( + _PLUG_ROOT, + _PLUG_ROT, + _SOCKET_ROOT, + _SOCKET_ROT, + set_finger_joint_pos_grav, +) + +# --------------------------------------------------------------------------- +# Rizon 4S arm joint names (convenience) +# --------------------------------------------------------------------------- +_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + +# --------------------------------------------------------------------------- +# OSC gains +# --------------------------------------------------------------------------- +# d_gain = 2 * sqrt(p_gain) * damping_ratio +_STIFFNESS = (300.0, 300.0, 300.0, 30.0, 30.0, 30.0) +_DAMPING_RATIO_TRANS = 35.0 / (2.0 * math.sqrt(300.0)) # ~1.010 +_DAMPING_RATIO_ROT = 1.1 / (2.0 * math.sqrt(30.0)) # ~0.100 +_DAMPING_RATIO = ( + _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, + _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, +) + +# Production action_scale = [0.01]*6 for both position and rotation +_ACTION_SCALE = 0.025 + +# DisplayPort plug insertion length (blade engagement along the insertion axis). +# ~11 mm of blade nests in the socket cavity at the verified seated pose. +_INSERTION_LENGTH = 0.011 + +## +# Pre-defined configs +## +from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip + + +## +# Observation configuration +## + + +@configclass +class TaskSpaceObservationsCfg: + """Task-space observations with 6D rotation representation.""" + + @configclass + class PolicyCfg(ObsGroup): + """Actor observations: EEF pose + socket keypoint frame (18 dims).""" + + eef_pos = ObsTerm( + func=mdp.eef_pos_w, + params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, + ) + eef_rot_6d = ObsTerm( + func=mdp.eef_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, + ) + socket_kp_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, + ) + socket_kp_rot_6d = ObsTerm( + func=mdp.rigid_object_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + + def __post_init__(self): + self.enable_corruption = False + self.concatenate_terms = True + + @configclass + class CriticCfg(ObsGroup): + """Critic observations: joint state + both keypoint frames (32 dims).""" + + joint_pos = ObsTerm( + func=mdp.joint_pos, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, + ) + joint_vel = ObsTerm( + func=mdp.joint_vel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, + ) + socket_kp_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, + ) + socket_kp_rot_6d = ObsTerm( + func=mdp.rigid_object_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + plug_kp_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_plug"), "offset": PLUG_INSERTION_OFFSET}, + ) + plug_kp_rot_6d = ObsTerm( + func=mdp.rigid_object_rot_6d_w, + params={"asset_cfg": SceneEntityCfg("dp_plug")}, + ) + + policy: PolicyCfg = PolicyCfg() + critic: CriticCfg = CriticCfg() + + +## +# Event configuration +## + + +@configclass +class TaskSpaceEventCfg: + """Events for the task-space DisplayPort insertion environment.""" + + plug_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("dp_plug", body_names=".*"), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + socket_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("dp_socket", body_names=".*"), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + robot_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), + "static_friction_range": (0.75, 0.75), + "dynamic_friction_range": (0.75, 0.75), + "restitution_range": (0.0, 0.0), + "num_buckets": 16, + }, + ) + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + randomize_socket_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], + "z": [-0.01, 0.01], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], + }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("dp_socket"), + }, + ) + + reset_plug_curriculum = EventTerm( + func=mdp.reset_plug_at_goal_curriculum, + mode="reset", + params={ + "plug_cfg": SceneEntityCfg("dp_plug"), + "socket_cfg": SceneEntityCfg("dp_socket"), + "at_goal_prob": 0.8, + "insertion_axis": [0.0, 0.0, -1.0], + "insertion_length": _INSERTION_LENGTH, + "socket_insertion_offset": SOCKET_INSERTION_OFFSET, + "plug_insertion_offset": PLUG_INSERTION_OFFSET, + "goal_rot": list(PLUG_GOAL_ROT), + "normal_pose_range": { + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], + "z": [-0.01, 0.01], + }, + }, + ) + + set_robot_to_grasp_pose = EventTerm( + func=mdp.set_robot_to_object_grasp_pose, + mode="reset", + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, + "target_object_name": "dp_plug", + "grasp_offset": [0.0, 0.0, 0.0], + }, + ) + + +## +# Terminations +## + + +@configclass +class TaskSpaceTerminationsCfg: + """Termination terms for the task-space DisplayPort insertion.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + plug_dropped = DoneTerm( + func=cable_terminations.reset_when_plug_dropped, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("dp_plug"), + "distance_threshold": 0.15, + "end_effector_body_name": "link7", + "grasp_offset": [0.0, 0.0, 0.0], + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], + }, + ) + + plug_orientation_exceeded = DoneTerm( + func=cable_terminations.reset_when_plug_orientation_exceeded, + params={ + "robot_asset_cfg": SceneEntityCfg("robot"), + "plug_asset_cfg": SceneEntityCfg("dp_plug"), + "roll_threshold_deg": 15.0, + "pitch_threshold_deg": 15.0, + "yaw_threshold_deg": 180.0, + "end_effector_body_name": "link7", + "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], + }, + ) + + +## +# Main environment configuration +## + + +@configclass +class Rizon4sTaskSpaceDisplayportInsertionEnvCfg(DisplayportInsertionEnvCfg): + """Task-space DisplayPort insertion with OSC control, 6D obs, and curriculum.""" + + def __post_init__(self): + super().__post_init__() + + # EEF / grasp settings (same as joint-space variant) + self.end_effector_body_name = "flange" + self.num_arm_joints = 7 + # CALIBRATE: flange position in the DisplayPort plug's local frame + # (see joint_pos_env_cfg.py). Verify the grasp in sim before training. + self.grasp_offset = [0.0, 0.0, -0.17] + self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] + self.gripper_joint_setter_func = set_finger_joint_pos_grav + + self.plug_orientation_roll_threshold_deg = 15.0 + self.plug_orientation_pitch_threshold_deg = 15.0 + self.plug_orientation_yaw_threshold_deg = 180.0 + + # ----- Observations: task-space with 6D rotation ----- + self.observations = TaskSpaceObservationsCfg() + + # ----- Actions: Operational Space Controller ----- + self.actions.arm_action = OperationalSpaceControllerActionCfg( + asset_name="robot", + joint_names=_ARM_JOINTS, + body_name="flange", + controller_cfg=OperationalSpaceControllerCfg( + target_types=["pose_rel"], + impedance_mode="fixed", + inertial_dynamics_decoupling=False, + motion_stiffness_task=_STIFFNESS, + motion_damping_ratio_task=_DAMPING_RATIO, + nullspace_control="none", + ), + position_scale=_ACTION_SCALE, + orientation_scale=_ACTION_SCALE, + ) + + # ----- Events: curriculum + production friction ----- + self.events = TaskSpaceEventCfg() + + # ----- Terminations ----- + self.terminations = TaskSpaceTerminationsCfg() + + self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( + self.plug_orientation_roll_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( + self.plug_orientation_pitch_threshold_deg + ) + self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( + self.plug_orientation_yaw_threshold_deg + ) + + # ----- Scene: robot ----- + self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( + prim_path="{ENV_REGEX_NS}/Robot", + spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=False, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + ), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), + ), + init_state=ArticulationCfg.InitialStateCfg( + joint_pos={ + "joint1": 0.0, + "joint2": -0.698, + "joint3": 0.0, + "joint4": 1.571, + "joint5": 0.0, + "joint6": 0.698, + "joint7": 0.0, + }, + pos=(0.0, 0.0, 0.0), + rot=(0.0, 0.0, 0.0, 1.0), + ), + ) + + # Grav gripper actuator configuration + self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( + joint_names_expr=["finger_joint"], + effort_limit_sim=2.0, + velocity_limit_sim=1.0, + stiffness=2e3, + damping=1e1, + ) + self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( + joint_names_expr=[".*_knuckle_joint"], + effort_limit_sim=1.0, + velocity_limit_sim=1.0, + stiffness=0.0, + damping=0.0, + ) + + # ----- Workspace positions ----- + self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=_SOCKET_ROOT, + rot=_SOCKET_ROT, + ) + self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=_PLUG_ROOT, + rot=_PLUG_ROT, + ) + + # Gripper widths (same as joint-space variant; CALIBRATE for DP plug) + self.hand_grasp_width = 0.3 + self.hand_hold_width = -0.05 + self.hand_close_width = -0.155 + + # Wire grasp event params + self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name + self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints + self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset + self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset + self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + + # Wire termination params + self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset + self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset + + self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name + self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset + + +@configclass +class Rizon4sTaskSpaceDisplayportInsertionEnvCfg_PLAY(Rizon4sTaskSpaceDisplayportInsertionEnvCfg): + """Play configuration for task-space DisplayPort insertion.""" + + def __post_init__(self): + super().__post_init__() + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py new file mode 100644 index 000000000000..2f30cb69f002 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py @@ -0,0 +1,125 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Task-space ROS inference configuration for DisplayPort insertion with Flexiv Rizon 4S. + +Inherits from the task-space training config and adds Isaac Manipulator +metadata fields plus Hubble Lab deployment alignment. Mirrors the GB300 +``config/rizon_4s/task_space_ros_inference_env_cfg.py``. +""" + +import math + +from isaaclab.assets import RigidObjectCfg +from isaaclab.utils import configclass + +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + compute_plug_pose, + compute_socket_root, +) + +from .task_space_env_cfg import _ACTION_SCALE, Rizon4sTaskSpaceDisplayportInsertionEnvCfg + +# --------------------------------------------------------------------------- +# Hubble Lab socket/plug positions (same as joint-space ROS inference) +# --------------------------------------------------------------------------- +# CALIBRATE: deployment values seeded from the GB300 cable-insertion ROS config; +# re-measure for the real DisplayPort station (see ros_inference_env_cfg.py). +_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) +_HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) +_HUBBLE_PLUG_CLEARANCE_Z = 0.068 + +_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) +_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( + _HUBBLE_GEOMETRY_POS, + _HUBBLE_SOCKET_ROT, + z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, +) + + +@configclass +class Rizon4sTaskSpaceDisplayportInsertionROSInferenceEnvCfg(Rizon4sTaskSpaceDisplayportInsertionEnvCfg): + """Task-space ROS / Isaac Manipulator inference config for NVIDIA Hubble Lab. + + This configuration: + + - Exposes variables needed by Isaac Manipulator for on-robot inference + with task-space (OSC) control and 6D rotation observations. + - Aligns robot mounting pose with the Flexiv Rizon 4s installation at + NVIDIA Hubble Lab (wall-mount with 90 deg rotation about negative X-axis). + - Overrides plug and socket initial poses for a fixed/deterministic setup. + """ + + def __post_init__(self): + super().__post_init__() + + # Variables used by Isaac Manipulator for on-robot inference + self.obs_order = ["eef_pos", "eef_rot_6d", "socket_kp_pos", "socket_kp_rot_6d"] + self.policy_action_space = "task" + self.arm_joint_names = [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + ] + # 6-DOF task-space actions (3 pos + 3 axis-angle rot) + self.action_space = 6 + # Critic: 7 jpos + 7 jvel + 3 socket_pos + 6 socket_rot6d + 3 plug_pos + 6 plug_rot6d = 32 + self.state_space = 32 + # Actor: 3 eef_pos + 6 eef_rot6d + 3 socket_pos + 6 socket_rot6d = 18 + self.observation_space = 18 + + self.action_scale = [_ACTION_SCALE] * self.action_space + + # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- + # CALIBRATE: home joint pose / mount seeded from GB300; align with the + # physical DisplayPort station before on-robot inference. + self.scene.robot.init_state.joint_pos = { + "joint1": math.radians(-145), + "joint2": math.radians(80), + "joint3": math.radians(-5), + "joint4": math.radians(90.0), + "joint5": math.radians(55), + "joint6": 0.0, + "joint7": math.radians(170), + } + + self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) + self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) + + self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( + pos=_HUBBLE_SOCKET_ROOT, + rot=_HUBBLE_SOCKET_ROT, + ) + + self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( + pos=_HUBBLE_PLUG_ROOT, + rot=_HUBBLE_PLUG_ROT, + ) + + self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + + # Fixed asset parameters for ROS inference (geometry center, not USD root) + self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) + + pose_range = self.events.randomize_socket_pose.params["pose_range"] + self.fixed_asset_init_pos_range = [ + pose_range["x"][1], + pose_range["y"][1], + pose_range["z"][1], + ] + # CALIBRATE: euler equivalent of the DP socket orientation at the station. + self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] + self.fixed_asset_init_orn_deg_range = [ + math.degrees(pose_range["roll"][1]), + math.degrees(pose_range["pitch"][1]), + math.degrees(pose_range["yaw"][1]), + ] + + # No observation noise in task-space production config + self.fixed_asset_pos_obs_noise_level = [0.0, 0.0, 0.0] diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml index 89aca9f363f5..86231333d91a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml @@ -1,3 +1,8 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + project: name: "displayport_cord_material_assignment" session_id: "displayport_cord_material" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml index 79dde7a6cc18..29c385c69f63 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml @@ -1,3 +1,8 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + project: name: "displayport_cord_physics_assignment" session_id: "displayport_cord_physics" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py new file mode 100644 index 000000000000..312a8bddac11 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -0,0 +1,367 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Base RL environment for inserting a DisplayPort plug into a socket. + +This mirrors :mod:`cable_insertion_env_cfg` (the GB300 cable-insertion base) +but targets the right-angle DisplayPort plug/socket SimReady assets that live +in ``display_cable_insertion_assets``. + +The DisplayPort assets are multi-body and ship a ``convexHull`` collider plus an +embedded ``PhysicsScene``; they are loaded through the custom spawner +:func:`...config.displayport_basic.spawners.spawn_usd_with_physics`, which (at +spawn time) de-instances the geometry, strips the embedded scene, consolidates +to a single root rigid body, and re-authors per-body colliders +(convexDecomposition for the dynamic plug, triangle-mesh for the kinematic +socket). This is the same working configuration validated in the +``Isaac-Deploy-DisplayportBasic-v0`` drop-test env. Replace the spawner with a +plain :class:`~isaaclab.sim.UsdFileCfg` once the assets are baked offline into +GB300-ready single-body USDs. + +Geometry constants below were derived from the **live-sim-verified** seated pose +of the drop-test (plug pos ``(0,0,0.2096)`` rot ``(0.70711,0.70711,0,0)``; +socket pos ``(0,0,0.15)`` rot ``(0.5,0.5,0.5,-0.5)`` in Isaac Lab quat order), +re-parameterized through the same quaternion helpers as the GB300 base so the +keypoint goal exactly reproduces the verified mate. +""" + +import os +from dataclasses import MISSING + +from isaaclab_physx.physics import PhysxCfg + +import isaaclab.sim as sim_utils +from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from isaaclab.envs import ManagerBasedRLEnvCfg +from isaaclab.managers import ActionTermCfg as ActionTerm +from isaaclab.managers import EventTermCfg as EventTerm +from isaaclab.managers import ObservationGroupCfg as ObsGroup +from isaaclab.managers import ObservationTermCfg as ObsTerm +from isaaclab.managers import RewardTermCfg as RewTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.managers import TerminationTermCfg as DoneTerm +from isaaclab.scene import InteractiveSceneCfg +from isaaclab.sim.simulation_cfg import SimulationCfg +from isaaclab.utils import configclass +from isaaclab.utils.noise import UniformNoiseCfg + +import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( + _quat_mul, + _quat_rotate_vec, +) +from isaaclab_tasks.manager_based.manipulation.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg + +CABLE_INSERTION_DIR = os.path.dirname(os.path.abspath(__file__)) +DISPLAY_ASSETS_DIR = os.path.join(CABLE_INSERTION_DIR, "display_cable_insertion_assets") + +# Custom spawner that applies physics APIs to the multi-body DisplayPort assets. +# Referenced as a string so ``pxr`` is not imported at config-resolution time. +_DP_SPAWNER = ( + "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion" + ".config.displayport_basic.spawners:spawn_usd_with_physics" +) + +# --------------------------------------------------------------------------- +# USD body-frame offsets (DisplayPort asset geometry) +# --------------------------------------------------------------------------- +# Root -> insertion(mate) point in each asset's local frame. Derived from the +# verified seated pose with the mating reference point chosen at the socket top +# face. See module docstring; round-trip-verified against the GB300 helpers. +SOCKET_INSERTION_OFFSET = [0.0375, 0.0, 0.0] +PLUG_INSERTION_OFFSET = [0.0, 0.0, 0.0221] +# Plug orientation relative to socket at the mated pose, (x, y, z, w). +PLUG_GOAL_ROT = [0.0, -0.70711, 0.0, 0.70711] +PLUG_GOAL_ROT_INV = [0.0, 0.70711, 0.0, 0.70711] + + +def compute_socket_root(geometry_pos, socket_rot): + """Compute socket USD root position from a desired insertion-geometry world position. + + Inverts :data:`SOCKET_INSERTION_OFFSET` (expressed in the socket's local + frame) for a given world-frame socket rotation. + """ + rotated = _quat_rotate_vec(socket_rot, SOCKET_INSERTION_OFFSET) + return ( + geometry_pos[0] - rotated[0], + geometry_pos[1] - rotated[1], + geometry_pos[2] - rotated[2], + ) + + +def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): + """Compute plug USD root position and world-frame rotation. + + Returns ``(plug_root_pos, plug_rot)`` such that the plug insertion point + lands at ``geometry_pos`` (plus optional vertical clearance) with the + correct goal orientation relative to the socket. + """ + plug_rot = _quat_mul(socket_rot, tuple(PLUG_GOAL_ROT)) + plug_offset_world = _quat_rotate_vec(plug_rot, PLUG_INSERTION_OFFSET) + plug_root = ( + geometry_pos[0] - plug_offset_world[0], + geometry_pos[1] - plug_offset_world[1], + geometry_pos[2] - plug_offset_world[2] + z_clearance, + ) + return plug_root, plug_rot + + +# --------------------------------------------------------------------------- +# Default socket/plug workspace positions (drop-test layout, socket opening up) +# --------------------------------------------------------------------------- +_INSERTION_POINT = [0.0, 0.0, 0.1875] +_DEFAULT_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) + +_SOCKET_ROOT_POS = compute_socket_root(_INSERTION_POINT, _DEFAULT_SOCKET_ROT) +_PLUG_ROOT_POS, _DEFAULT_PLUG_ROT = compute_plug_pose( + _INSERTION_POINT, _DEFAULT_SOCKET_ROT, z_clearance=0.033, +) + +# Inch->metre normalization op baked into the SimReady assets; create_prim +# replaces it with cfg.scale, so this restores the asset's intended real size. +_DP_SCALE = (0.0254, 0.0254, 0.0254) + +## +# Asset Configurations +## + + +@configclass +class DisplayPortPlug(RigidObjectCfg): + """DisplayPort right-angle plug (held asset) — dynamic.""" + + prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" + spawn = sim_utils.UsdFileCfg( + func=_DP_SPAWNER, + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), + scale=_DP_SCALE, + activate_contact_sensors=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + kinematic_enabled=False, + # Gentle depenetration: high values turn residual mate overlap into + # an explosive ejection. 0.5 lets PhysX resolve overlaps smoothly. + max_depenetration_velocity=0.5, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + # Leave uncapped at the PhysX default; pairing a cap with a high + # depenetration velocity amplified contact blow-ups. + max_contact_impulse=None, + ), + mass_props=sim_utils.MassPropertiesCfg(mass=0.03), + # Tight DP mate (~0.5 mm clearance per side); a larger contact_offset + # keeps the blade shell permanently overlapping the cavity walls. + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), + ) + init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=_DEFAULT_PLUG_ROT) + + +@configclass +class DisplayPortSocket(RigidObjectCfg): + """DisplayPort socket (fixed asset) — kinematic.""" + + prim_path = "{ENV_REGEX_NS}/DisplayPortSocket" + spawn = sim_utils.UsdFileCfg( + func=_DP_SPAWNER, + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), + scale=_DP_SCALE, + activate_contact_sensors=False, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + kinematic_enabled=True, + max_depenetration_velocity=5.0, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=3666.0, + enable_gyroscopic_forces=True, + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + mass_props=sim_utils.MassPropertiesCfg(mass=None), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), + ) + init_state = RigidObjectCfg.InitialStateCfg(pos=_SOCKET_ROOT_POS, rot=_DEFAULT_SOCKET_ROT) + + +## +# Environment configuration +## + + +@configclass +class DisplayportInsertionSceneCfg(InteractiveSceneCfg): + """Configuration for the DisplayPort insertion scene.""" + + replicate_physics = False + + ground = AssetBaseCfg( + prim_path="/World/ground", + spawn=sim_utils.GroundPlaneCfg(), + init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), + ) + + dp_plug = DisplayPortPlug() + dp_socket = DisplayPortSocket() + + robot: ArticulationCfg = MISSING + + light = AssetBaseCfg( + prim_path="/World/light", + spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2500.0), + ) + + +@configclass +class ActionsCfg: + """Action specifications for the MDP.""" + + arm_action: ActionTerm = MISSING + gripper_action: ActionTerm | None = None + + +@configclass +class ObservationsCfg: + """Observation specifications for the MDP.""" + + @configclass + class PolicyCfg(ObsGroup): + """Observations for policy group.""" + + joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + socket_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, + noise=ResetSampledConstantNoiseModelCfg( + noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") + ), + ) + socket_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + + def __post_init__(self): + self.enable_corruption = True + self.concatenate_terms = True + + @configclass + class CriticCfg(ObsGroup): + """Observations for critic group.""" + + joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) + socket_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, + ) + socket_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + plug_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_plug"), "offset": PLUG_INSERTION_OFFSET}, + ) + plug_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("dp_plug")}, + ) + + policy: PolicyCfg = PolicyCfg() + critic: CriticCfg = CriticCfg() + + +@configclass +class EventCfg: + """Configuration for events.""" + + reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") + + +@configclass +class RewardsCfg: + """Reward terms for the MDP.""" + + plug_socket_keypoint_tracking = RewTerm( + func=mdp.keypoint_two_body_error, + weight=-1.5, + params={ + "asset_cfg_1": SceneEntityCfg("dp_socket"), + "asset_cfg_2": SceneEntityCfg("dp_plug"), + "offset_1": SOCKET_INSERTION_OFFSET, + "offset_2": PLUG_INSERTION_OFFSET, + "rot_offset_2": PLUG_GOAL_ROT_INV, + "keypoint_scale": 0.15, + }, + ) + + plug_socket_keypoint_tracking_exp = RewTerm( + func=mdp.keypoint_two_body_error_exp, + weight=3.0, + params={ + "asset_cfg_1": SceneEntityCfg("dp_socket"), + "asset_cfg_2": SceneEntityCfg("dp_plug"), + "offset_1": SOCKET_INSERTION_OFFSET, + "offset_2": PLUG_INSERTION_OFFSET, + "rot_offset_2": PLUG_GOAL_ROT_INV, + "kp_exp_coeffs": [(50, 0.0001), (300, 0.0001), (600, 0.0001)], + "kp_use_sum_of_exps": False, + "keypoint_scale": 0.15, + }, + ) + + action_rate = RewTerm(func=mdp.action_rate_l2, weight=-5.0e-06) + + +@configclass +class TerminationsCfg: + """Termination terms for the MDP.""" + + time_out = DoneTerm(func=mdp.time_out, time_out=True) + + +@configclass +class DisplayportInsertionEnvCfg(ManagerBasedRLEnvCfg): + """Base configuration for DisplayPort plug/socket insertion.""" + + scene: DisplayportInsertionSceneCfg = DisplayportInsertionSceneCfg(num_envs=4096, env_spacing=2.5) + observations: ObservationsCfg = ObservationsCfg() + actions: ActionsCfg = ActionsCfg() + rewards: RewardsCfg = RewardsCfg() + terminations: TerminationsCfg = TerminationsCfg() + events: EventCfg = EventCfg() + sim: SimulationCfg = SimulationCfg( + physics_material=sim_utils.RigidBodyMaterialCfg( + friction_combine_mode="multiply", + restitution_combine_mode="multiply", + static_friction=1.0, + dynamic_friction=1.0, + restitution=0.0, + ), + physics=PhysxCfg( + bounce_threshold_velocity=0.2, + friction_offset_threshold=0.01, + friction_correlation_distance=0.00625, + gpu_collision_stack_size=2**30, + gpu_max_rigid_contact_count=2**23, + gpu_max_rigid_patch_count=2**23, + ), + ) + + def __post_init__(self): + """Post initialization.""" + self.episode_length_s = 6.66 + self.viewer.eye = (3.5, 3.5, 3.5) + self.decimation = 8 + self.sim.render_interval = self.decimation + self.sim.dt = 1.0 / 240.0 From 972fa1eeddb8d1f009f16e773dc763f269a9cf67 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 8 Jun 2026 15:06:37 -0700 Subject: [PATCH 13/65] Minor fixes. --- .../config/displayport_basic/spawners.py | 19 +++++++++---------- .../displayport_rizon_4s/joint_pos_env_cfg.py | 8 ++++---- .../task_space_env_cfg.py | 6 ++---- 3 files changed, 15 insertions(+), 18 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py index 922f501bf7c4..92d34ab14e62 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py @@ -168,17 +168,16 @@ def spawn_usd_with_physics( # Pick the mesh collision approximation per body. # - # Socket (kinematic): an exact triangle-mesh collider preserves the concave - # receptacle cavity (a convex hull would fill the opening, leaving no hole - # for the blade). Triangle mesh also does not require a watertight surface, - # which the converted CAD meshes are not. + # Socket (kinematic): exact triangle-mesh preserves the concave receptacle + # cavity (a convex hull would fill the opening). Triangle mesh also does not + # require a watertight surface, which the converted CAD meshes are not. # - # Plug (dynamic): must use SDF, not a convex approximation. The blade (Body1) - # is a hollow shroud whose recess RECEIVES the socket tongue (Body5); a convex - # hull fills that recess solid (it spans 92% of the blade bbox) and rams the - # tongue, ejecting the plug. SDF preserves the concave recess. PhysX forbids - # triangle-mesh colliders on dynamic bodies, so SDF is the only concave option. - # High resolution is needed for the connector's thin shroud / fine features. + # Plug (dynamic): convexDecomposition. ConvexHull fills the blade shroud recess + # solid (spans 92% of bbox) and rams the socket tongue (Body5), ejecting the + # plug. SDF at 512 resolution is leaky on the 0.4 mm shroud walls, causing the + # plug to float or fall through. ConvexDecomposition gives solid convex pieces + # (reliable contact) while preserving the gross concavity of the blade recess + # and overmold underside so they mate correctly with the socket. is_kinematic = cfg.rigid_props is not None and bool(cfg.rigid_props.kinematic_enabled) if is_kinematic: mesh_collision_cfg = schemas_cfg.TriangleMeshPropertiesCfg() diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 43736514d686..8c9dd3a9e5e0 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -110,8 +110,8 @@ class EventCfg: mode="startup", params={ "asset_cfg": SceneEntityCfg("dp_plug", body_names=".*"), - "static_friction_range": (1.0, 1.0), - "dynamic_friction_range": (1.0, 1.0), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), "restitution_range": (0.0, 0.0), "num_buckets": 16, }, @@ -122,8 +122,8 @@ class EventCfg: mode="startup", params={ "asset_cfg": SceneEntityCfg("dp_socket", body_names=".*"), - "static_friction_range": (0.1, 0.1), - "dynamic_friction_range": (0.1, 0.1), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), "restitution_range": (0.0, 0.0), "num_buckets": 16, }, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index f27aa401a3da..007c1cb08e9a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -208,7 +208,7 @@ class TaskSpaceEventCfg: "plug_cfg": SceneEntityCfg("dp_plug"), "socket_cfg": SceneEntityCfg("dp_socket"), "at_goal_prob": 0.8, - "insertion_axis": [0.0, 0.0, -1.0], + "insertion_axis": [1.0, 0.0, 0.0], "insertion_length": _INSERTION_LENGTH, "socket_insertion_offset": SOCKET_INSERTION_OFFSET, "plug_insertion_offset": PLUG_INSERTION_OFFSET, @@ -285,9 +285,7 @@ def __post_init__(self): # EEF / grasp settings (same as joint-space variant) self.end_effector_body_name = "flange" self.num_arm_joints = 7 - # CALIBRATE: flange position in the DisplayPort plug's local frame - # (see joint_pos_env_cfg.py). Verify the grasp in sim before training. - self.grasp_offset = [0.0, 0.0, -0.17] + self.grasp_offset = [0.0025, 0.0, -0.1875] self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] self.gripper_joint_setter_func = set_finger_joint_pos_grav From c8f2d7c4f4615c9eb841f75a93d45afb04f87ddb Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 8 Jun 2026 16:25:35 -0700 Subject: [PATCH 14/65] Viewer fix. --- .../deploy/cable_insertion/displayport_insertion_env_cfg.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 312a8bddac11..cbf6ec7587f3 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -361,7 +361,8 @@ class DisplayportInsertionEnvCfg(ManagerBasedRLEnvCfg): def __post_init__(self): """Post initialization.""" self.episode_length_s = 6.66 - self.viewer.eye = (3.5, 3.5, 3.5) + self.viewer.eye = (0.5, -1.8, 1.2) + self.viewer.lookat = (0.5, 0.0, 0.5) self.decimation = 8 self.sim.render_interval = self.decimation self.sim.dt = 1.0 / 240.0 From d0a7eac31f3559fae89854c74d284af8c807baf0 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 8 Jun 2026 16:49:04 -0700 Subject: [PATCH 15/65] Add simready USD assets for DisplayPort plug and socket Required for training: env cfg references these files but they were excluded by the *.usd gitignore rule. --- .../2584n111_displayport_cord_plug_latch_removed_simready.usd | 3 +++ ...584n111_displayport_cord_socket_screws_removed_simready.usd | 3 +++ 2 files changed, 6 insertions(+) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd new file mode 100644 index 000000000000..a3eae0e5a216 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:366262475baa60b216e28517a2b622fc8f0e41a837311b6308914f63c00f2ec0 +size 286614 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd new file mode 100644 index 000000000000..3fed08cbb637 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2bd60706466dd0829b9e51720f54ddcfb22ccd24f8aae8153d69823995a8f07 +size 413443 From 8ae2f98bd58e16ede0f4ebf6f3e28291fdf01746 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 9 Jun 2026 13:45:15 -0700 Subject: [PATCH 16/65] Changed from wall mount to table-top mount. --- .../ros_inference_env_cfg.py | 57 ++++++++++--------- 1 file changed, 29 insertions(+), 28 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index 2c3306c685bd..5be704559fa1 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -6,7 +6,7 @@ """Joint-space ROS inference configuration for DisplayPort insertion with Flexiv Rizon 4S. Inherits from the joint-space training config and adds Isaac Manipulator -metadata fields plus Hubble Lab deployment alignment. Mirrors the GB300 +metadata fields plus deployment alignment. Mirrors the GB300 ``config/rizon_4s/ros_inference_env_cfg.py``. """ @@ -23,13 +23,13 @@ from .joint_pos_env_cfg import Rizon4sGravDisplayportInsertionEnvCfg # --------------------------------------------------------------------------- -# Hubble Lab socket/plug positions +# Deployment socket/plug positions # --------------------------------------------------------------------------- -# CALIBRATE: deployment values seeded from the GB300 cable-insertion ROS config. -# Re-measure the real DisplayPort fixture pose and the Flexiv mount for the -# actual station. The socket rotation keeps the verified DP orientation -# (opening facing +Z) used by the training configs. -_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) +# CALIBRATE: geometry pos seeded from the training-env value (GB300 Hubble table +# mount). Re-measure the real DisplayPort fixture pose for the actual station. +# The socket rotation keeps the verified DP orientation (opening facing +Z). +# -_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) +_HUBBLE_GEOMETRY_POS = (0.481, -0.073, 0.071) _HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) _HUBBLE_PLUG_CLEARANCE_Z = 0.068 @@ -41,13 +41,12 @@ @configclass class Rizon4sGravDisplayportInsertionROSInferenceEnvCfg(Rizon4sGravDisplayportInsertionEnvCfg): - """ROS / Isaac Manipulator inference fields plus deployment alignment for NVIDIA Hubble Lab. + """ROS / Isaac Manipulator inference fields plus deployment alignment. This configuration: - Exposes variables needed for Isaac Manipulator ROS inference. - - Aligns robot mounting pose with the Flexiv Rizon 4s installation at NVIDIA Hubble Lab - (wall-mount with 90 deg rotation about negative X-axis). + - Aligns robot mounting pose with a vertical (table-top) Flexiv Rizon 4s installation. - Overrides plug and socket initial poses for a fixed/deterministic setup. """ @@ -67,22 +66,24 @@ def __post_init__(self): self.joint_action_scale = self.actions.arm_action.scale self.action_scale_joint_space = [self.joint_action_scale] * self.action_space - # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- - # CALIBRATE: home joint pose / mount seeded from GB300; align with the - # physical DisplayPort station before on-robot inference. - self.scene.robot.init_state.joint_pos = { - "joint1": math.radians(-90.0), - "joint2": math.radians(90.0), - "joint3": 0.0, - "joint4": math.radians(90.0), - "joint5": 0.0, - "joint6": 0.0, - "joint7": 0.0, - } - - # Orientation of robot is based on the Flexiv Rizon 4s mount in the Hubble Lab + # --- Flexiv Rizon 4s mount: vertical (table-top) --- + # CALIBRATE: home joint pose matches the training-env default (standard + # Rizon 4s upright home). Re-tune for the physical station before + # on-robot inference. self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) - self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) + self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) + + # Wall-mount configuration (GB300 Hubble Lab, rot=(0.5,0.5,0.5,0.5)): + # self.scene.robot.init_state.joint_pos = { + # "joint1": math.radians(-90.0), + # "joint2": math.radians(90.0), + # "joint3": 0.0, + # "joint4": math.radians(90.0), + # "joint5": 0.0, + # "joint6": 0.0, + # "joint7": 0.0, + # } + # self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) # Socket/plug positions account for the DisplayPort USD root-to-geometry offset. self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( @@ -95,8 +96,7 @@ def __post_init__(self): rot=_HUBBLE_PLUG_ROT, ) - # Increase IK iterations for the grasp event — the Hubble home pose is - # further from typical IK solutions than the table-mount default. + # Increase IK iterations for the grasp event as a safety margin. self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 # Fixed asset parameters for ROS inference (geometry center, not USD root) @@ -109,7 +109,8 @@ def __post_init__(self): pose_range["z"][1], ] # CALIBRATE: euler equivalent of the DP socket orientation at the station. - self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] + # Wall-mount was [0.0, 0.0, -90.0]; vertical mount seeds to [0.0, 0.0, 0.0]. + self.fixed_asset_init_orn_deg = [0.0, 0.0, 0.0] self.fixed_asset_init_orn_deg_range = [ math.degrees(pose_range["roll"][1]), math.degrees(pose_range["pitch"][1]), From 3eeeedba5c565ed053693ad6f3705e361e443d88 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 11 Jun 2026 10:51:30 -0700 Subject: [PATCH 17/65] Added fixed assets and removed custom load-time fixes. --- .../display_port_plug_fixed.usd | 3 + .../display_port_socket_fixed.usd | 3 + .../displayport_insertion_env_cfg.py | 57 +++++++++---------- 3 files changed, 34 insertions(+), 29 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd new file mode 100644 index 000000000000..a5204cc1cc0b --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45e36e55c203be18749f151bd7d8cb7abf8f767875e13a2704a7651a22886eef +size 406570 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd new file mode 100644 index 000000000000..148ae4e6710d --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8720c30ef613013d8e7610be47e02b3b6739132c1236d805d1a45eff67f0674 +size 608750 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index cbf6ec7587f3..cf690790c4e1 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -6,19 +6,17 @@ """Base RL environment for inserting a DisplayPort plug into a socket. This mirrors :mod:`cable_insertion_env_cfg` (the GB300 cable-insertion base) -but targets the right-angle DisplayPort plug/socket SimReady assets that live -in ``display_cable_insertion_assets``. - -The DisplayPort assets are multi-body and ship a ``convexHull`` collider plus an -embedded ``PhysicsScene``; they are loaded through the custom spawner -:func:`...config.displayport_basic.spawners.spawn_usd_with_physics`, which (at -spawn time) de-instances the geometry, strips the embedded scene, consolidates -to a single root rigid body, and re-authors per-body colliders -(convexDecomposition for the dynamic plug, triangle-mesh for the kinematic -socket). This is the same working configuration validated in the -``Isaac-Deploy-DisplayportBasic-v0`` drop-test env. Replace the spawner with a -plain :class:`~isaaclab.sim.UsdFileCfg` once the assets are baked offline into -GB300-ready single-body USDs. +but targets the right-angle DisplayPort plug/socket assets in +``display_cable_insertion_assets``. + +Assets (``display_port_plug_fixed.usd``, ``display_port_socket_fixed.usd``) were +produced from STEP source via the ``omniverse-cad-to-simready`` pipeline and +post-processed by ``physical-ai-skill-hub-dev/scripts/finalize_dp_assets.py``. +All issues from ``output_dir/displayport_asset_fixes_required.md`` have been +resolved offline: geometry is in metres, single root :class:`RigidBodyAPI`, +no embedded ``PhysicsScene``, ``convexDecomposition`` on the plug, ``triangleMesh`` +on the socket, Body4/Body5 collision disabled. Assets load with plain +:class:`~isaaclab.sim.UsdFileCfg` at ``scale=(1,1,1)``; no custom spawner needed. Geometry constants below were derived from the **live-sim-verified** seated pose of the drop-test (plug pos ``(0,0,0.2096)`` rot ``(0.70711,0.70711,0,0)``; @@ -57,12 +55,10 @@ CABLE_INSERTION_DIR = os.path.dirname(os.path.abspath(__file__)) DISPLAY_ASSETS_DIR = os.path.join(CABLE_INSERTION_DIR, "display_cable_insertion_assets") -# Custom spawner that applies physics APIs to the multi-body DisplayPort assets. -# Referenced as a string so ``pxr`` is not imported at config-resolution time. -_DP_SPAWNER = ( - "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion" - ".config.displayport_basic.spawners:spawn_usd_with_physics" -) +# _DP_SPAWNER = ( # old: runtime USD patching for original multi-body simready assets +# "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion" +# ".config.displayport_basic.spawners:spawn_usd_with_physics" +# ) # --------------------------------------------------------------------------- # USD body-frame offsets (DisplayPort asset geometry) @@ -119,9 +115,7 @@ def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): _INSERTION_POINT, _DEFAULT_SOCKET_ROT, z_clearance=0.033, ) -# Inch->metre normalization op baked into the SimReady assets; create_prim -# replaces it with cfg.scale, so this restores the asset's intended real size. -_DP_SCALE = (0.0254, 0.0254, 0.0254) +# _DP_SCALE = (0.0254, 0.0254, 0.0254) # old: inch→metre workaround for original simready assets; geometry is now natively in metres ## # Asset Configurations @@ -134,9 +128,11 @@ class DisplayPortPlug(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" spawn = sim_utils.UsdFileCfg( - func=_DP_SPAWNER, - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), - scale=_DP_SCALE, + # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, multi-body, instanced + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed.usd"), + # scale=_DP_SCALE, # old: inch→metre workaround; finalize_dp_assets.py baked metres into vertices + scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -169,9 +165,11 @@ class DisplayPortSocket(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortSocket" spawn = sim_utils.UsdFileCfg( - func=_DP_SPAWNER, - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), - scale=_DP_SCALE, + # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, multi-body + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed.usd"), + # scale=_DP_SCALE, # old: inch→metre workaround + scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -201,7 +199,8 @@ class DisplayPortSocket(RigidObjectCfg): class DisplayportInsertionSceneCfg(InteractiveSceneCfg): """Configuration for the DisplayPort insertion scene.""" - replicate_physics = False + # replicate_physics = False # old: required when spawner patched de-instanced geometry at runtime + replicate_physics = True ground = AssetBaseCfg( prim_path="/World/ground", From b4018623f7780886df644261b7e6c2c78dd51c9b Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 11 Jun 2026 11:31:24 -0700 Subject: [PATCH 18/65] Fixed socket asset by re-enabling missing parts. --- .../displayport_basic_env_cfg.py | 37 +++++++------------ .../display_port_socket_fixed.usd | 4 +- .../displayport_insertion_env_cfg.py | 2 +- 3 files changed, 17 insertions(+), 26 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py index 249c32f1a74c..6f7418eb0709 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py @@ -53,14 +53,6 @@ PLUG_CLEARANCE = 0.02 # metres above socket opening -# Lazy-loaded custom spawner that applies physics APIs to the root prim. -# Referenced as a string so pxr is not imported at config-resolution time. -_SPAWNER = ( - "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion" - ".config.displayport_basic.spawners:spawn_usd_with_physics" -) - - ## # Asset Configurations ## @@ -72,16 +64,13 @@ class DisplayPortPlug(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" spawn = sim_utils.UsdFileCfg( - func=_SPAWNER, + # func=_SPAWNER, # old: custom spawner needed for old assets (deinstance, strip physics scenes) # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), - # The simready asset's raw geometry is in INCHES; its root carries an - # `xformOp:scale:meter_normalization=(0.0254,...)` (inch->metre). Isaac - # Lab's create_prim REPLACES that op with cfg.scale, so cfg.scale must be - # 0.0254 to reproduce the asset's intended real size (mating cavity - # ~16.7 mm = real DisplayPort). Earlier values were wrong: 1.0 -> 40x too - # big (~1.5 m); 0.01 -> 39% of true size (~6.6 mm cavity). - scale=(0.0254, 0.0254, 0.0254), + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, needs scale=0.0254 + # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/plug/conform/fet001-minimal/plug_material_physics.usd", # old: absolute path, convexHull + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed.usd"), + # pipeline output post-processed by finalize_dp_assets.py: metres, single root RB, convexDecomposition. + scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -123,13 +112,14 @@ class DisplayPortSocket(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortSocket" spawn = sim_utils.UsdFileCfg( - func=_SPAWNER, + # func=_SPAWNER, # old: custom spawner needed for old assets # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584N111_Displayport Cord_socket_screws_removed_material_physics.usd"), # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), - # See plug note: asset geometry is in inches; cfg.scale restores the - # importer's inch->metre normalization (0.0254) clobbered by create_prim. - scale=(0.0254, 0.0254, 0.0254), + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, needs scale=0.0254 + # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/socket/conform/fet001-minimal/socket_material_physics.usd", # old: absolute path + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed.usd"), + # pipeline output post-processed by finalize_dp_assets.py: metres, kinematic root, all bodies enabled. + scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -163,7 +153,8 @@ class DisplayPortSocket(RigidObjectCfg): class DisplayportBasicSceneCfg(InteractiveSceneCfg): """Minimal scene: DisplayPort plug + socket, ground, and light. No robot.""" - replicate_physics = False + # replicate_physics = False # old: required when spawner patched de-instanced geometry at runtime + replicate_physics = True ground = AssetBaseCfg( prim_path="/World/ground", diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd index 148ae4e6710d..dee33d2e7212 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d8720c30ef613013d8e7610be47e02b3b6739132c1236d805d1a45eff67f0674 -size 608750 +oid sha256:3216d69009e933fd86db055a80b78d473c3bc3c04492a887466b598f048fa172 +size 1407276 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index cf690790c4e1..1bbe7fd00df8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -15,7 +15,7 @@ All issues from ``output_dir/displayport_asset_fixes_required.md`` have been resolved offline: geometry is in metres, single root :class:`RigidBodyAPI`, no embedded ``PhysicsScene``, ``convexDecomposition`` on the plug, ``triangleMesh`` -on the socket, Body4/Body5 collision disabled. Assets load with plain +on the socket (all bodies enabled). Assets load with plain :class:`~isaaclab.sim.UsdFileCfg` at ``scale=(1,1,1)``; no custom spawner needed. Geometry constants below were derived from the **live-sim-verified** seated pose From 3cb1c8065406cda5d5f8a4fe92a5c90232ebb11c Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 11 Jun 2026 13:29:20 -0700 Subject: [PATCH 19/65] New fixed assets and reduced contact offset for better behavior. --- .../displayport_basic_env_cfg.py | 16 ++++++++-------- .../display_port_plug_fixed_watertight.usd | 3 +++ .../display_port_socket_fixed_watertight.usd | 3 +++ .../displayport_insertion_env_cfg.py | 7 +++---- 4 files changed, 17 insertions(+), 12 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py index 6f7418eb0709..905b84698e2f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py @@ -68,7 +68,7 @@ class DisplayPortPlug(RigidObjectCfg): # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, needs scale=0.0254 # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/plug/conform/fet001-minimal/plug_material_physics.usd", # old: absolute path, convexHull - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_watertight.usd"), # pipeline output post-processed by finalize_dp_assets.py: metres, single root RB, convexDecomposition. scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, @@ -92,10 +92,11 @@ class DisplayPortPlug(RigidObjectCfg): max_contact_impulse=None, ), mass_props=sim_utils.MassPropertiesCfg(mass=0.03), - # Tight DP mate: cavity-to-blade clearance is ~0.5 mm per side, so a 1 mm - # contact_offset kept the blade's contact shell permanently overlapping the - # cavity walls and slowly pushed the plug out. Use 0.3 mm. - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), + # DP blade-to-cavity clearance is ~0.27mm at the tightest body (Body5). + # contact_offset=0.3mm overshoots that gap → persistent shell penetration + # creating a net lateral force each step that eventually ejects the plug. + # Use 0.1mm so the contact shell stays within the cavity clearance. + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), ) # NOTE: seated pose under verification (scripts/dp_verify_seated_geometry.py). # The dp_insertion_test.py best-of-24 solver pose was geometrically wrong @@ -117,7 +118,7 @@ class DisplayPortSocket(RigidObjectCfg): # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, needs scale=0.0254 # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/socket/conform/fet001-minimal/socket_material_physics.usd", # old: absolute path - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), # pipeline output post-processed by finalize_dp_assets.py: metres, kinematic root, all bodies enabled. scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, @@ -135,8 +136,7 @@ class DisplayPortSocket(RigidObjectCfg): max_contact_impulse=1e32, ), mass_props=sim_utils.MassPropertiesCfg(mass=None), - # Match the plug's tight contact_offset (see plug note). - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), ) init_state = RigidObjectCfg.InitialStateCfg( pos=(0.0, 0.0, SOCKET_HEIGHT), diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd new file mode 100644 index 000000000000..94bdabf66865 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:564645b3c8f0b781e13127d7716a53cdd1d2457abdbb8866389325ad6a605ac9 +size 1498944 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd new file mode 100644 index 000000000000..405cbb4118ff --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:832d434c78f1a3ae2cd4c667d27a9f62fd7fde1bcba5e7814688fa9329db0d9c +size 608738 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 1bbe7fd00df8..353a4c40efdf 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -152,9 +152,8 @@ class DisplayPortPlug(RigidObjectCfg): max_contact_impulse=None, ), mass_props=sim_utils.MassPropertiesCfg(mass=0.03), - # Tight DP mate (~0.5 mm clearance per side); a larger contact_offset - # keeps the blade shell permanently overlapping the cavity walls. - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), + # Body5 clearance to blade is ~0.27mm — contact_offset must stay below that. + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=_DEFAULT_PLUG_ROT) @@ -185,7 +184,7 @@ class DisplayPortSocket(RigidObjectCfg): max_contact_impulse=1e32, ), mass_props=sim_utils.MassPropertiesCfg(mass=None), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0003, rest_offset=0.0), + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_SOCKET_ROOT_POS, rot=_DEFAULT_SOCKET_ROT) From 79e355e9c3dc748cc19d8a1aeffffde233ef5b40 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 11 Jun 2026 13:35:01 -0700 Subject: [PATCH 20/65] Updated training env to use new assets. --- .../deploy/cable_insertion/displayport_insertion_env_cfg.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 353a4c40efdf..7b02123935b9 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -130,7 +130,7 @@ class DisplayPortPlug(RigidObjectCfg): spawn = sim_utils.UsdFileCfg( # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, multi-body, instanced - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_watertight.usd"), # scale=_DP_SCALE, # old: inch→metre workaround; finalize_dp_assets.py baked metres into vertices scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, @@ -166,7 +166,7 @@ class DisplayPortSocket(RigidObjectCfg): spawn = sim_utils.UsdFileCfg( # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, multi-body - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), # scale=_DP_SCALE, # old: inch→metre workaround scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, From c52ea1c84a5dc0eaba95e4de9c3ce24deb3ec1bd Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 17 Jun 2026 09:38:28 -0700 Subject: [PATCH 21/65] Adding SDF assets and using that in training env. --- .../display_port_plug_fixed_sdf.usd | 3 +++ .../display_port_socket_fixed_sdf.usd | 3 +++ .../deploy/cable_insertion/displayport_insertion_env_cfg.py | 6 ++++-- 3 files changed, 10 insertions(+), 2 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd new file mode 100644 index 000000000000..5ef83cf196e4 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b2c3a133f29ea94b56aa04a1c2e44bb6ad6ab6b2320e0235ad545d8c76cd6e1 +size 1769975 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd new file mode 100644 index 000000000000..f90bff7e325d --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43bc333886f49aadb86d1374221f5a1f0e2007ef67bd775095187802607dc159 +size 1459285 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 7b02123935b9..6d8893752148 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -130,7 +130,8 @@ class DisplayPortPlug(RigidObjectCfg): spawn = sim_utils.UsdFileCfg( # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, multi-body, instanced - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_watertight.usd"), + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_watertight.usd"), # old: convexDecomposition, hulls too wide → blocks slot entrance + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_sdf.usd"), # scale=_DP_SCALE, # old: inch→metre workaround; finalize_dp_assets.py baked metres into vertices scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, @@ -166,7 +167,8 @@ class DisplayPortSocket(RigidObjectCfg): spawn = sim_utils.UsdFileCfg( # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, multi-body - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), + # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), # old: triangleMesh, may have entrance artifacts + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_sdf.usd"), # scale=_DP_SCALE, # old: inch→metre workaround scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, From f8826d9bf254bd84d1ab2210a01f168ecf738044 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 22 Jun 2026 08:42:38 -0700 Subject: [PATCH 22/65] Debug scripts. --- .../auto_insert_displayport_robot.py | 341 ++++++++++++++++++ .../environments/debug_policy_insertion.py | 255 +++++++++++++ scripts/environments/step_displayport.py | 84 +++-- 3 files changed, 652 insertions(+), 28 deletions(-) create mode 100644 scripts/environments/auto_insert_displayport_robot.py create mode 100644 scripts/environments/debug_policy_insertion.py diff --git a/scripts/environments/auto_insert_displayport_robot.py b/scripts/environments/auto_insert_displayport_robot.py new file mode 100644 index 000000000000..83045dfe9956 --- /dev/null +++ b/scripts/environments/auto_insert_displayport_robot.py @@ -0,0 +1,341 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Automated DisplayPort plug insertion: robot IK-grasps plug then descends into socket. + +The environment setup (task, config overrides, grasp) is identical to +``step_displayport_robot.py``. Instead of manual control, the script runs an +autonomous descent trajectory with XY locking until the plug seats. + +Phases per trial: + 1. Reset — IK grasp positions arm, plug at z_clearance above socket. + 2. Settle — N hold steps to let the IK-solved arm stabilise. + 3. Descent — repeated z-action steps (negative = down) with XY locking. + Stops on success (Δz reaches mated position) or stall/timeout. + 4. Hold — a few steps at the final position for visual inspection. + +Usage: + ./isaaclab.sh -p scripts/environments/auto_insert_displayport_robot.py --num_envs 1 --viz kit + +Typical one-liner (faster descent, 3 trials): + ./isaaclab.sh -p scripts/environments/auto_insert_displayport_robot.py \\ + --num_envs 1 --viz kit --num_trials 3 --descent_action 1.0 --z_clearance 0.025 +""" + +import argparse +import sys + +import gymnasium as gym +import torch +import warp as wp + +import isaaclab_tasks # noqa: F401 +from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + compute_plug_pose, + compute_socket_root, +) +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( + _GEOMETRY_POS, + _SOCKET_ROT, +) + +TASK = "Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0" + +# 1 / _ACTION_SCALE from task_space_env_cfg: converts metres of EEF error → action units. +_GAIN = 1.0 / 0.025 # hold-step gain (proportional only, no coupling issue) + +parser = argparse.ArgumentParser(description="Automated DisplayPort robot insertion.") +parser.add_argument("--num_envs", type=int, default=1) +parser.add_argument( + "--z_clearance", + type=float, + default=0.030, + help="Initial plug clearance above socket [m] (default 30 mm).", +) +parser.add_argument( + "--descent_action", + type=float, + default=0.5, + help="Z-action magnitude per step applied downward (default 0.5). Increase for faster descent.", +) +parser.add_argument( + "--settle_steps", + type=int, + default=30, + help="Hold steps after reset before descending (default 30).", +) +parser.add_argument( + "--max_steps", + type=int, + default=300, + help="Max descent steps before declaring timeout (default 300).", +) +parser.add_argument( + "--num_trials", + type=int, + default=1, + help="Number of insertion trials (each preceded by a reset).", +) +parser.add_argument( + "--stall_window", + type=int, + default=15, + help="Steps over which to measure progress for stall detection (default 15).", +) +parser.add_argument( + "--stall_threshold_mm", + type=float, + default=0.2, + help="Minimum Δz progress over stall_window to avoid stall detection [mm] (default 0.2).", +) +parser.add_argument( + "--seated_tolerance_mm", + type=float, + default=4.0, + help="Δz within this of mated position → success [mm] (default 4.0).", +) +parser.add_argument( + "--xy_kp", + type=float, + default=3.0, + help="Proportional gain multiplier for XY locking during descent (default 3.0 × base gain).", +) +parser.add_argument( + "--xy_ki", + type=float, + default=1.5, + help="Integral gain for XY locking during descent [action_units / (m·step)] (default 1.5). " + "Eliminates accumulated X drift from Jacobian coupling. Set 0 to disable.", +) +add_launcher_args(parser) +args_cli, hydra_args = parser.parse_known_args() +sys.argv = [sys.argv[0]] + hydra_args + + +# --------------------------------------------------------------------------- +# State helpers +# --------------------------------------------------------------------------- + + +def _get_eef_pos(env) -> torch.Tensor | None: + robot = env.unwrapped.scene["robot"] + try: + eef_idx = robot.find_bodies("flange")[0][0] + return robot.data.body_pos_w[0, eef_idx].cpu() + except Exception: + return None + + +def _get_plug_pos(env) -> torch.Tensor: + return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_pos_w)[0].cpu() + + +def _get_socket_pos(env) -> torch.Tensor: + return wp.to_torch(env.unwrapped.scene["dp_socket"].data.root_pos_w)[0].cpu() + + +def _dz_m(env) -> float: + """Plug root Z minus socket root Z in metres. Decreases as plug inserts.""" + return float(_get_plug_pos(env)[2] - _get_socket_pos(env)[2]) + + +def _print_state(env, *, step: int | None = None, tag: str = "") -> None: + eef = _get_eef_pos(env) + plug = _get_plug_pos(env) + sock = _get_socket_pos(env) + dz = (plug[2] - sock[2]) * 1e3 + prefix = f"[{step:3d}] " if step is not None else " " + eef_str = ( + f"EEF ({eef[0]*1e3:.1f}, {eef[1]*1e3:.1f}, {eef[2]*1e3:.1f}) " if eef is not None else "" + ) + print( + f" {prefix}{eef_str}" + f"Plug ({plug[0]*1e3:.1f}, {plug[1]*1e3:.1f}, {plug[2]*1e3:.1f}) " + f"Δz={dz:.2f} mm {tag}" + ) + + +# --------------------------------------------------------------------------- +# Step primitives +# --------------------------------------------------------------------------- + + +def _hold_step(env, actions: torch.Tensor, hold_pos: torch.Tensor | None) -> None: + """Step with a proportional action that drives EEF back to hold_pos.""" + step_action = torch.zeros(actions.shape[-1], device=actions.device) + eef = _get_eef_pos(env) + if hold_pos is not None and eef is not None: + err = hold_pos.to(actions.device) - eef.to(actions.device) + step_action[:3] += err * _GAIN + actions[:] = step_action + with torch.inference_mode(): + env.step(actions) + + +def _descent_step( + env, + actions: torch.Tensor, + xy_lock_ref: torch.Tensor | None, + z_action: float, + xy_integral: torch.Tensor | None, + kp: float, + ki: float, +) -> None: + """Step with z_action plus XY PI correction to cancel kinematic X-Z coupling. + + Proportional-only control (gain 40) can't fully cancel Jacobian cross-terms at each + step — error accumulates across steps, causing visible X drift. The integral term + drives the accumulated XY error to zero regardless of descent speed. + """ + step_action = torch.zeros(actions.shape[-1], device=actions.device) + step_action[2] = z_action + eef = _get_eef_pos(env) + if xy_lock_ref is not None and eef is not None: + xy_err = xy_lock_ref[:2].to(actions.device) - eef[:2].to(actions.device) + step_action[:2] += xy_err * kp + if xy_integral is not None and ki > 0.0: + xy_integral += xy_err + step_action[:2] += xy_integral * ki + actions[:] = step_action + with torch.inference_mode(): + env.step(actions) + + +# --------------------------------------------------------------------------- +# Main +# --------------------------------------------------------------------------- + + +def main(): + env_cfg, _ = resolve_task_config(TASK, "") + + with launch_simulation(env_cfg, args_cli): + env_cfg.scene.num_envs = args_cli.num_envs + if args_cli.device is not None: + env_cfg.sim.device = args_cli.device + + # Override plug starting height. + new_plug_root, new_plug_rot = compute_plug_pose( + _GEOMETRY_POS, _SOCKET_ROT, z_clearance=args_cli.z_clearance + ) + env_cfg.scene.dp_plug.init_state.pos = new_plug_root + env_cfg.scene.dp_plug.init_state.rot = new_plug_rot + + # Compute mated Δz for insertion detection. + mated_plug_root, _ = compute_plug_pose(_GEOMETRY_POS, _SOCKET_ROT, z_clearance=0.0) + socket_root = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) + mated_dz = mated_plug_root[2] - socket_root[2] # metres + seated_dz = mated_dz + args_cli.seated_tolerance_mm * 1e-3 + + print(f" Plug start: {args_cli.z_clearance*1e3:.0f} mm above socket") + print(f" Mated Δz target: {mated_dz*1e3:.2f} mm (success when Δz < {seated_dz*1e3:.2f} mm)") + + # Disable pose randomization — fixed geometry for reproducible tests. + zero_range = { + "x": [0.0, 0.0], "y": [0.0, 0.0], "z": [0.0, 0.0], + "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0], + } + env_cfg.events.randomize_socket_pose.params["pose_range"] = zero_range + if hasattr(env_cfg.events, "randomize_plug_pose"): + env_cfg.events.randomize_plug_pose.params["pose_range"] = zero_range + if hasattr(env_cfg.events, "reset_plug_curriculum"): + env_cfg.events.reset_plug_curriculum.params["at_goal_prob"] = 0.0 + env_cfg.events.reset_plug_curriculum.params["normal_pose_range"] = { + "x": [0.0, 0.0], "y": [0.0, 0.0], "z": [0.0, 0.0] + } + + # Inertial decoupling reduces (but does not eliminate) kinematic coupling. + # gravity_compensation stays False: robot links have disable_gravity=True in PhysX, + # so enabling compensation would push the arm upward against non-existent gravity. + if hasattr(env_cfg.actions, "arm_action") and hasattr( + env_cfg.actions.arm_action, "controller_cfg" + ): + env_cfg.actions.arm_action.controller_cfg.inertial_dynamics_decoupling = True + + env = gym.make(TASK, cfg=env_cfg) + device = env.unwrapped.device + actions = torch.zeros(env.action_space.shape, device=device) + z_action = -abs(args_cli.descent_action) + xy_kp = _GAIN * args_cli.xy_kp + xy_ki = args_cli.xy_ki + results: list[tuple[str, float]] = [] + + for trial in range(args_cli.num_trials): + print(f"\n{'='*50}") + print(f"Trial {trial + 1} / {args_cli.num_trials}") + print(f"{'='*50}") + + # --- Reset --- + env.reset() + actions[:] = 0.0 + _print_state(env, tag="(post-reset)") + + # --- Phase 1: Settle --- + print(f" Settling ({args_cli.settle_steps} steps)...") + hold_pos = _get_eef_pos(env) + for _ in range(args_cli.settle_steps): + _hold_step(env, actions, hold_pos) + hold_pos = _get_eef_pos(env) + _print_state(env, tag="(settled)") + + # --- Phase 2: Descent --- + print(f" Descending (z_action={z_action:.2f}, xy_kp={xy_kp:.1f}, xy_ki={xy_ki:.2f}, max {args_cli.max_steps} steps)...") + xy_ref = _get_eef_pos(env) # XY target held constant throughout descent + xy_integral = torch.zeros(2, device=device) # reset integrator each trial + dz_history: list[float] = [] + success = stall = False + final_step = 0 + + for step in range(args_cli.max_steps): + _descent_step(env, actions, xy_ref, z_action, xy_integral, xy_kp, xy_ki) + cur_dz = _dz_m(env) + dz_history.append(cur_dz) + final_step = step + 1 + + if (step + 1) % 10 == 0: + _print_state(env, step=step + 1) + + # Success: plug reached the mated position within tolerance. + if cur_dz <= seated_dz: + success = True + break + + # Stall: not enough downward progress over the last stall_window steps. + w = args_cli.stall_window + if len(dz_history) >= w: + progress = (dz_history[-w] - dz_history[-1]) * 1e3 # mm + if progress < args_cli.stall_threshold_mm: + stall = True + break + + # --- Phase 3: Hold for inspection --- + final_eef = _get_eef_pos(env) + for _ in range(30): + _hold_step(env, actions, final_eef) + + cur_dz = _dz_m(env) + gap_mm = (cur_dz - mated_dz) * 1e3 + outcome = "SUCCESS" if success else ("STALL" if stall else "TIMEOUT") + print(f"\n {outcome} at step {final_step}") + _print_state(env, tag=f"({outcome})") + print(f" Final Δz: {cur_dz*1e3:.2f} mm | gap to mated: {gap_mm:.2f} mm") + results.append((outcome, cur_dz)) + + # --- Summary --- + print(f"\n{'='*50}") + print(f"Summary: {args_cli.num_trials} trial(s)") + print(f"{'='*50}") + successes = sum(1 for r, _ in results if r == "SUCCESS") + print(f" {successes}/{args_cli.num_trials} successful") + for i, (r, dz) in enumerate(results): + gap = (dz - mated_dz) * 1e3 + print(f" Trial {i+1:2d}: {r:8s} Δz={dz*1e3:.2f} mm gap={gap:+.2f} mm") + + env.close() + + +if __name__ == "__main__": + main() diff --git a/scripts/environments/debug_policy_insertion.py b/scripts/environments/debug_policy_insertion.py new file mode 100644 index 000000000000..95210bfddf59 --- /dev/null +++ b/scripts/environments/debug_policy_insertion.py @@ -0,0 +1,255 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Policy insertion debugger — answers two questions per step: + + 1. Is the policy actually trying to insert? + → Logs raw 7-joint action vector, norm, and EEF Z motion (ΔEEF_Z). + If ACT_NORM is large but ΔEEF_Z ≈ 0 the arm controller isn't tracking. + If ACT_NORM is tiny, the policy is outputting near-zero actions. + + 2. Is a collision preventing insertion? + → Compares ΔEEF_Z (EEF moved down) vs ΔPLUG_Z (plug moved down). + If EEF is descending but plug is NOT → collision blocking the plug. + If both ≈ 0 → policy is idle or arm is stalled. + +Output columns (printed every --log_interval steps): + STEP : simulation step number + ACT : sum |joint_delta| across 7 arm joints (policy activity) + dEEF_Z : EEF Z change since last log [mm, negative = descending] + dPLUG_Z : plug Z change since last log [mm, negative = toward socket] + DZ : current plug-socket delta Z [mm] — decreasing = inserting + VZ : plug Z velocity [mm/s, negative = moving toward socket] + STATUS : INSERTING / BLOCKED / STALL / IDLE + +Usage (same args as play.py): + python scripts/environments/debug_policy_insertion.py \\ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0 \\ + --num_envs 1 \\ + --checkpoint logs/rsl_rl/dp_insertion_rizon4s/2026-06-11_22-49-29/model_100.pt \\ + --visualizer kit +""" + +import argparse +import contextlib +import importlib.metadata as metadata +import os +import sys + +import gymnasium as gym +import torch +import warp as wp +from packaging import version +from rsl_rl.runners import DistillationRunner, OnPolicyRunner + +from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg +from isaaclab.utils.assets import retrieve_file_path + +from isaaclab_rl.rsl_rl import ( + RslRlBaseRunnerCfg, + RslRlVecEnvWrapper, + handle_deprecated_rsl_rl_cfg, +) + +import isaaclab_tasks # noqa: F401 +from isaaclab_tasks.utils import add_launcher_args, get_checkpoint_path, launch_simulation +from isaaclab_tasks.utils.hydra import hydra_task_config + +sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "reinforcement_learning", "rsl_rl")) +import cli_args # isort: skip # noqa: E402 + +with contextlib.suppress(ImportError): + import isaaclab_tasks_experimental # noqa: F401 + +# --------------------------------------------------------------------------- +# CLI +# --------------------------------------------------------------------------- + +parser = argparse.ArgumentParser(description="Policy insertion debugger.") +parser.add_argument("--num_envs", type=int, default=1) +parser.add_argument("--task", type=str, required=True) +parser.add_argument("--agent", type=str, default="rsl_rl_cfg_entry_point") +parser.add_argument("--log_interval", type=int, default=5, + help="Print diagnostics every N steps (default 5).") +parser.add_argument("--max_steps", type=int, default=500, + help="Max steps per episode (default 500).") +parser.add_argument("--num_episodes", type=int, default=3, + help="Number of episodes to run (default 3).") +parser.add_argument("--action_active_threshold", type=float, default=0.05, + help="Action norm below this → policy flagged IDLE (default 0.05).") +parser.add_argument("--block_threshold_mm", type=float, default=0.1, + help="ΔEEF_Z < -threshold but ΔPLUG_Z > -threshold → BLOCKED (default 0.1 mm).") +cli_args.add_rsl_rl_args(parser) +add_launcher_args(parser) +args_cli, remaining_args = parser.parse_known_args() +sys.argv = [sys.argv[0]] + remaining_args + +installed_version = metadata.version("rsl-rl-lib") + + +# --------------------------------------------------------------------------- +# State helpers +# --------------------------------------------------------------------------- + + +def _eef_pos(env) -> torch.Tensor | None: + robot = env.unwrapped.scene["robot"] + try: + idx = robot.find_bodies("flange")[0][0] + return robot.data.body_pos_w[0, idx].cpu() + except Exception: + return None + + +def _plug_pos(env) -> torch.Tensor: + return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_pos_w)[0].cpu() + + +def _plug_vel_z(env) -> float: + return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_lin_vel_w)[0, 2].cpu().item() + + +def _socket_pos(env) -> torch.Tensor: + return wp.to_torch(env.unwrapped.scene["dp_socket"].data.root_pos_w)[0].cpu() + + +def _classify(act_norm, d_eef_z, d_plug_z, threshold_mm, active_thresh) -> str: + if act_norm < active_thresh: + return "IDLE " + eef_descending = d_eef_z < -threshold_mm + plug_descending = d_plug_z < -threshold_mm + if eef_descending and plug_descending: + return "INSERT " + if eef_descending and not plug_descending: + return "BLOCKED" # arm moving but plug isn't → collision + return "STALL " + + +# --------------------------------------------------------------------------- +# Main +# --------------------------------------------------------------------------- + + +@hydra_task_config(args_cli.task, args_cli.agent) +def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlBaseRunnerCfg): + with launch_simulation(env_cfg, args_cli): + env_cfg.scene.num_envs = args_cli.num_envs + if args_cli.device is not None: + env_cfg.sim.device = args_cli.device + + agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli) + agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, installed_version) + + # Force single env for readable per-env diagnostics + env_cfg.scene.num_envs = 1 + + task_name = args_cli.task.split(":")[-1].replace("-Play", "") + log_root_path = os.path.abspath(os.path.join("logs", "rsl_rl", agent_cfg.experiment_name)) + + if args_cli.checkpoint: + resume_path = retrieve_file_path(args_cli.checkpoint) + else: + resume_path = get_checkpoint_path(log_root_path, agent_cfg.load_run, agent_cfg.load_checkpoint) + + print(f"\n[DEBUG] Checkpoint: {resume_path}") + + env_cfg.log_dir = os.path.dirname(resume_path) + env = gym.make(args_cli.task, cfg=env_cfg) + + if isinstance(env.unwrapped.cfg, DirectMARLEnvCfg): + from isaaclab.envs import multi_agent_to_single_agent + env = multi_agent_to_single_agent(env) + + env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions) + + if agent_cfg.class_name == "OnPolicyRunner": + runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=None, device=agent_cfg.device) + elif agent_cfg.class_name == "DistillationRunner": + runner = DistillationRunner(env, agent_cfg.to_dict(), log_dir=None, device=agent_cfg.device) + else: + raise ValueError(f"Unsupported runner: {agent_cfg.class_name}") + + runner.load(resume_path) + policy = runner.get_inference_policy(device=env.unwrapped.device) + + hdr = f"{'STEP':>5} | {'ACT':>8} | {'joints (7)':^55} | {'dEEF_Z':>8} | {'dPLUG_Z':>8} | {'DZ':>8} | {'VZ':>8} | STATUS" + print(f"\n{hdr}") + print("-" * len(hdr)) + + try: + for episode in range(args_cli.num_episodes): + print(f"\n{'='*60} Episode {episode + 1}/{args_cli.num_episodes} {'='*60}") + + obs = env.get_observations() + prev_eef_z = None + prev_plug_z = None + + for step in range(args_cli.max_steps): + with torch.inference_mode(): + actions = policy(obs) + obs, _, dones, _ = env.step(actions) + if version.parse(installed_version) >= version.parse("4.0.0"): + policy.reset(dones) + + if (step + 1) % args_cli.log_interval != 0: + # Still track positions every step for accurate deltas + raw = env.unwrapped + cur_eef = _eef_pos(raw) + cur_plug = _plug_pos(raw) + if prev_eef_z is None and cur_eef is not None: + prev_eef_z = cur_eef[2].item() * 1e3 + if prev_plug_z is None: + prev_plug_z = cur_plug[2].item() * 1e3 + continue + + raw = env.unwrapped + act_cpu = actions[0].cpu() + act_norm = act_cpu.abs().sum().item() + + cur_eef = _eef_pos(raw) + cur_plug = _plug_pos(raw) + cur_sock = _socket_pos(raw) + vz = _plug_vel_z(raw) + + eef_z = cur_eef[2].item() * 1e3 if cur_eef is not None else float("nan") + plug_z = cur_plug[2].item() * 1e3 + sock_z = cur_sock[2].item() * 1e3 + dz = plug_z - sock_z + + d_eef_z = (eef_z - prev_eef_z) if prev_eef_z is not None else 0.0 + d_plug_z = (plug_z - prev_plug_z) if prev_plug_z is not None else 0.0 + prev_eef_z = eef_z + prev_plug_z = plug_z + + status = _classify( + act_norm, d_eef_z, d_plug_z, + args_cli.block_threshold_mm, + args_cli.action_active_threshold, + ) + + j_str = " ".join(f"{v:+.3f}" for v in act_cpu.tolist()) + print( + f" {step+1:4d} | {act_norm:8.4f} | [{j_str}] | " + f"{d_eef_z:+8.2f} | {d_plug_z:+8.2f} | {dz:8.2f} | {vz*1e3:+8.2f} | {status}" + ) + + # Annotate notable events + if act_norm < args_cli.action_active_threshold: + print(f" *** POLICY IDLE — action norm {act_norm:.4f} ***") + if status == "BLOCKED": + print(f" *** COLLISION — EEF moved {d_eef_z:+.2f} mm but plug moved {d_plug_z:+.2f} mm ***") + + if dones.any(): + print(f" Episode terminated at step {step+1}") + break + + except KeyboardInterrupt: + pass + + env.close() + + +if __name__ == "__main__": + main() diff --git a/scripts/environments/step_displayport.py b/scripts/environments/step_displayport.py index 5f54521551ce..95a25fa55b05 100644 --- a/scripts/environments/step_displayport.py +++ b/scripts/environments/step_displayport.py @@ -1,3 +1,8 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + """Interactive runner for DisplayPort basic drop test. Usage: @@ -31,15 +36,20 @@ TASK = "Isaac-Deploy-DisplayportBasic-v0" -# Insertion pose: plug tip at socket opening (simready assets) -# Recompute with diagnose_dp_insertion.py if assets change -INSERTION_POSE_POS = (0.0, 0.066, 0.2305) -INSERTION_POSE_ROT = (0.70711, 0.70711, 0.00000, 0.00000) +# Full-insert pose (geometrically correct): overmold on the socket face, blade +# ~11 mm into the cavity. NOTE: not yet DYNAMICALLY stable — the plug's thin shell +# walls (Body2/Body3) and filled overmold recess have poor SDF collision, so under +# physics it floats up / topples. Use `i` then `k` (freeze/kinematic) to hold this +# pose for visualization until the plug colliders are re-authored (bake phase). +# Rotation is (w, x, y, z). +INSERTION_POSE_POS = (0.0, 0.0, 0.2096) +INSERTION_POSE_ROT = (0.70711, 0.70711, 0.0, 0.0) parser = argparse.ArgumentParser(description="Interactive DisplayPort drop test.") parser.add_argument("--num_envs", type=int, default=1) -parser.add_argument("--step_delay", type=float, default=0.5, - help="Seconds between physics steps in slow mode (default 0.5).") +parser.add_argument( + "--step_delay", type=float, default=0.5, help="Seconds between physics steps in slow mode (default 0.5)." +) add_launcher_args(parser) args_cli, hydra_args = parser.parse_known_args() sys.argv = [sys.argv[0]] + hydra_args @@ -129,6 +139,7 @@ def _rotate_plug(env, axis: int, deg: float): def _toggle_gravity(env): """Toggle gravity on the plug rigid body.""" from pxr import PhysxSchema + from isaaclab.sim.utils import get_current_stage stage = get_current_stage() @@ -146,6 +157,7 @@ def _toggle_gravity(env): def _set_gravity(env, disable: bool): """Explicitly set gravity on the plug.""" from pxr import PhysxSchema + from isaaclab.sim.utils import get_current_stage stage = get_current_stage() @@ -160,6 +172,7 @@ def _set_gravity(env, disable: bool): def _freeze_plug(env): """Toggle kinematic mode on the plug to freeze/unfreeze it in place.""" from pxr import UsdPhysics + from isaaclab.sim.utils import get_current_stage stage = get_current_stage() @@ -193,15 +206,18 @@ def _insert_plug(env): def _inspect_collisions(env): """Walk the prim tree for plug and socket and print collision mesh info.""" from pxr import Usd, UsdGeom, UsdPhysics + from isaaclab.sim.utils import get_current_stage stage = get_current_stage() - for label, path in [("PLUG", "/World/envs/env_0/DisplayPortPlug"), - ("SOCKET", "/World/envs/env_0/DisplayPortSocket")]: + for label, path in [ + ("PLUG", "/World/envs/env_0/DisplayPortPlug"), + ("SOCKET", "/World/envs/env_0/DisplayPortSocket"), + ]: print(f"\n === {label}: {path} ===") root = stage.GetPrimAtPath(path) if not root.IsValid(): - print(f" (prim not found)") + print(" (prim not found)") continue for prim in Usd.PrimRange(root): ppath = str(prim.GetPath()) @@ -238,13 +254,14 @@ def _inspect_collisions(env): def _toggle_body_collision(env, body_name: str, enable: bool): """Enable or disable collision on a specific socket body by name.""" from pxr import Usd, UsdGeom, UsdPhysics + from isaaclab.sim.utils import get_current_stage stage = get_current_stage() socket_path = "/World/envs/env_0/DisplayPortSocket" root = stage.GetPrimAtPath(socket_path) if not root.IsValid(): - print(f" Socket prim not found.") + print(" Socket prim not found.") return found = False @@ -253,7 +270,15 @@ def _toggle_body_collision(env, body_name: str, enable: bool): if parent_name == body_name and prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI): col_attr = prim.GetAttribute("physics:collisionEnabled") if not col_attr.IsValid(): - col_attr = prim.CreateAttribute("physics:collisionEnabled", prim.GetStage().GetRootLayer().GetPropertyAtPath(prim.GetPath().AppendProperty("physics:collisionEnabled")).typeName if False else None) + col_attr = prim.CreateAttribute( + "physics:collisionEnabled", + prim.GetStage() + .GetRootLayer() + .GetPropertyAtPath(prim.GetPath().AppendProperty("physics:collisionEnabled")) + .typeName + if False + else None, + ) prim.GetAttribute("physics:collisionEnabled").Set(enable) state = "ENABLED" if enable else "DISABLED" print(f" {body_name}: collision {state} on {prim.GetPath()}") @@ -270,6 +295,7 @@ def _toggle_body_collision(env, body_name: str, enable: bool): def _toggle_body_visibility(env, body_name: str): """Toggle visibility of a socket body to visually identify it.""" from pxr import Usd, UsdGeom + from isaaclab.sim.utils import get_current_stage stage = get_current_stage() @@ -299,8 +325,6 @@ def _toggle_body_visibility(env, body_name: str): def _show_contacts(env): """Show contact forces on the plug using Isaac Lab's built-in data.""" - from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema - from isaaclab.sim.utils import get_current_stage import omni.physx from carb import Float3 @@ -314,35 +338,39 @@ def _show_contacts(env): force_data = plug.data.net_forces_w if force_data is not None: net_force = wp.to_torch(force_data)[0].cpu().tolist() - force_mag = (net_force[0]**2 + net_force[1]**2 + net_force[2]**2)**0.5 - print(f" Plug net force: ({net_force[0]:.4f}, {net_force[1]:.4f}, {net_force[2]:.4f}) N |F|={force_mag:.4f} N") + force_mag = (net_force[0] ** 2 + net_force[1] ** 2 + net_force[2] ** 2) ** 0.5 + print( + f" Plug net force: ({net_force[0]:.4f}, {net_force[1]:.4f}, {net_force[2]:.4f}) N |F|={force_mag:.4f} N" + ) force_found = True if force_mag > 1e-6: - fx, fy, fz = net_force[0]/force_mag, net_force[1]/force_mag, net_force[2]/force_mag + fx, fy, fz = net_force[0] / force_mag, net_force[1] / force_mag, net_force[2] / force_mag print(f" → Force direction: ({fx:.3f}, {fy:.3f}, {fz:.3f})") if fz > 0.5: - print(f" → Plug is being pushed UPWARD (blocked from below)") + print(" → Plug is being pushed UPWARD (blocked from below)") if abs(fx) > 0.3 or abs(fy) > 0.3: - print(f" → Plug has lateral contact (misaligned)") + print(" → Plug has lateral contact (misaligned)") except Exception: pass if not force_found: # List available data attributes for debugging try: - data_attrs = [a for a in dir(plug.data) if not a.startswith('_') - and ('force' in a.lower() or 'contact' in a.lower())] + data_attrs = [ + a for a in dir(plug.data) if not a.startswith("_") and ("force" in a.lower() or "contact" in a.lower()) + ] print(f" Available force/contact attrs: {data_attrs}") except Exception: pass - print(f"\n Plug pos: ({plug_pos[0]*1e3:.2f}, {plug_pos[1]*1e3:.2f}, {plug_pos[2]*1e3:.2f}) mm") + print(f"\n Plug pos: ({plug_pos[0] * 1e3:.2f}, {plug_pos[1] * 1e3:.2f}, {plug_pos[2] * 1e3:.2f}) mm") # Overlap sphere query with correct API try: physx_sq = omni.physx.get_physx_scene_query_interface() hits = [] + def report_hit(hit): hits.append(str(hit.rigid_body)) return True @@ -351,18 +379,18 @@ def report_hit(hit): physx_sq.overlap_sphere(0.02, pos, report_hit, False) if hits: - print(f"\n Bodies within 20mm of plug center:") + print("\n Bodies within 20mm of plug center:") for h in hits: print(f" → {h}") else: - print(f"\n No bodies found within 20mm sphere of plug center.") + print("\n No bodies found within 20mm sphere of plug center.") except Exception as e: print(f"\n Overlap query failed: {e}") - print(f"\n TIP: To identify the blocker, try:") - print(f" 1. Freeze plug with 'k'") - print(f" 2. Disable bodies one at a time: 'd Body4', 'd Body5', etc.") - print(f" 3. Unfreeze with 'k' — if plug moves further, that body was blocking") + print("\n TIP: To identify the blocker, try:") + print(" 1. Freeze plug with 'k'") + print(" 2. Disable bodies one at a time: 'd Body4', 'd Body5', etc.") + print(" 3. Unfreeze with 'k' — if plug moves further, that body was blocking") def _check_stdin(): @@ -468,7 +496,7 @@ def main(): result = _handle_command(line, env) if result is True: break - elif result == "fast": + if result == "fast": slow_mode = False elif result == "slow": slow_mode = True From 0f0839204459bb5bbab67fc76951608ebb25f0f1 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 23 Jun 2026 09:44:20 -0700 Subject: [PATCH 23/65] Fixed plug SDF asset and env setup and added robot insertion test. --- .../environments/step_displayport_robot.py | 364 ++++++++++++++++++ .../displayport_basic_env_cfg.py | 4 +- .../display_port_plug_fixed_sdf.usd | 4 +- .../displayport_insertion_env_cfg.py | 8 +- 4 files changed, 373 insertions(+), 7 deletions(-) create mode 100644 scripts/environments/step_displayport_robot.py diff --git a/scripts/environments/step_displayport_robot.py b/scripts/environments/step_displayport_robot.py new file mode 100644 index 000000000000..eaf83aa0fb47 --- /dev/null +++ b/scripts/environments/step_displayport_robot.py @@ -0,0 +1,364 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Interactive insertion tester: Flexiv Rizon 4S holding a DisplayPort plug, driven by user into socket. + +Usage: + ./isaaclab.sh -p scripts/environments/step_displayport_robot.py --num_envs 1 --viz kit + +How it works: + At reset, the existing IK-grasp event positions the robot arm so its gripper holds the + DisplayPort plug, which starts ~68 mm above the socket opening with perfect X/Y alignment. + The user then sends OSC (task-space) actions to drive the EEF downward. The OSC controller + converts those into joint torques that apply a real continuous force — the robot pushes the + plug in, it does not teleport. + + The gripper stays closed automatically via PD actuator stiffness (no gripper action needed). + + Socket pose randomization is disabled so the geometry is fixed and reproducible. + +Action convention (insertion axis = world -Z): + z -1.0 50 → push down for 50 steps (burst mode — runs immediately, no per-step delay) + z -1.0 → set persistent z-action (keeps applying every loop iteration) + 0 → stop / zero all actions + +Why burst mode matters: + The OSC impedance controller (stiffness=300 N/m) only achieves ~10% of the target offset per + 8-physics-sub-step call. Each env.step() moves the EEF ~2-3 mm at action magnitude 1.0. + Burst mode runs N steps back-to-back so a single command produces noticeable travel. + Suggested starting point: "z -1.0 30" (≈60–90 mm of EEF travel, enough to reach the socket). + +Commands (type at the prompt, then press Enter): + z [n] set EEF z-action (no n=persistent, n given=burst n steps) e.g. "z -1.0 30" + x [n] set EEF x-action + y [n] set EEF y-action + rx/ry/rz [n] rotation actions + 0 zero ALL actions (stop) + a print current action vector + p print EEF, plug, socket positions and insertion depth + r reset scene (re-runs IK grasp) + f fast mode (full sim speed, no per-step delay) + s slow mode (default, 0.1 s/step between persistent steps) + q quit + +Action values are not clamped — use magnitudes > 1 for faster motion (e.g. "z -3.0 20"). +""" + +import argparse +import select +import sys +import time + +import gymnasium as gym +import torch +import warp as wp + +import isaaclab_tasks # noqa: F401 +from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + compute_plug_pose, +) +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( + _GEOMETRY_POS, + _SOCKET_ROT, +) +from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.displayport_rizon_4s.task_space_env_cfg import ( + _INSERTION_LENGTH, +) + +TASK = "Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0" + +parser = argparse.ArgumentParser(description="Interactive DisplayPort robot insertion test.") +parser.add_argument("--num_envs", type=int, default=1) +parser.add_argument("--step_delay", type=float, default=0.1, help="Seconds between steps in slow mode.") +parser.add_argument("--z_clearance", type=float, default=0.015, help="Initial plug-to-socket clearance in metres (default 15 mm). Negative = start inside socket.") +parser.add_argument("--start_seated", action="store_true", help="Spawn plug inside socket. Use --insert_depth to control how far in (default 3 mm).") +parser.add_argument("--insert_depth", type=float, default=0.003, help="Insertion depth in metres when using --start_seated (default 3 mm).") +parser.add_argument("--show_colliders", action="store_true", help="Overlay collision meshes in the viewport.") +add_launcher_args(parser) +args_cli, hydra_args = parser.parse_known_args() +sys.argv = [sys.argv[0]] + hydra_args + +_AXIS_MAP = {"x": 0, "y": 1, "z": 2, "rx": 3, "ry": 4, "rz": 5} + +HELP = """ +=== DisplayPort Robot Insertion Test === +Robot holds plug via IK grasp. Drive it into the socket with OSC actions. + + z [n] → EEF z-action, negative=down (e.g. "z -1.0 30" = 30-step burst) + x [n] → EEF x-action (lateral) + y [n] → EEF y-action (lateral) + rx/ry/rz [n] → EEF rotation actions + 0 → zero all actions (stop) + a → print current action vector + p → print EEF, plug, socket positions + insertion depth + r → reset (re-runs IK grasp, plug back to start) + f → fast mode (full speed) + s → slow mode (default, 0.1 s/step between persistent steps) + q → quit + +With [n]: burst — runs n steps immediately (no per-step delay), then stops. +Without [n]: persistent — action keeps applying every loop iteration until '0'. +Suggested start: "z -1.0 30" (~60-90 mm of EEF travel downward). +Use --start_seated to spawn plug already inserted for in-socket movement testing. +""" + + +# --------------------------------------------------------------------------- +# Helpers +# --------------------------------------------------------------------------- + + +def _get_eef_pos(env): + robot = env.unwrapped.scene["robot"] + try: + eef_idx = robot.find_bodies("flange")[0][0] + return robot.data.body_pos_w[0, eef_idx].cpu() + except Exception: + return None + + +def _get_plug_pos(env): + return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_pos_w)[0].cpu() + + +def _get_socket_pos(env): + return wp.to_torch(env.unwrapped.scene["dp_socket"].data.root_pos_w)[0].cpu() + + +def _print_poses(env): + eef = _get_eef_pos(env) + plug = _get_plug_pos(env) + sock = _get_socket_pos(env) + + if eef is not None: + print(f" EEF (flange): ({eef[0]*1e3:.1f}, {eef[1]*1e3:.1f}, {eef[2]*1e3:.1f}) mm") + print(f" Plug root: ({plug[0]*1e3:.2f}, {plug[1]*1e3:.2f}, {plug[2]*1e3:.2f}) mm") + print(f" Socket root: ({sock[0]*1e3:.2f}, {sock[1]*1e3:.2f}, {sock[2]*1e3:.2f}) mm") + + # Insertion depth proxy: plug z - socket z. + # Insertion axis = world -Z, so this delta decreases as plug enters socket. + # SOCKET_INSERTION_OFFSET = [0.0375, 0, 0] in socket-local X, which maps to world -Z + # with the default socket rotation. So the socket slot opening is ~37.5 mm above sock root in -Z. + # This is an approximate metric; it captures the trend clearly. + dz_mm = (plug[2] - sock[2]) * 1e3 + print(f" Δz (plug - socket root): {dz_mm:.2f} mm (decreasing → inserting)") + + +def _check_stdin(): + if select.select([sys.stdin], [], [], 0.0)[0]: + return sys.stdin.readline().strip() + return None + + +def _handle_command(raw, current_action): + """Parse a command and update current_action in place. + + Returns (quit: bool, reset: bool, mode: str | None, burst_steps: int). + burst_steps > 0 means caller should run that many steps immediately. + """ + parts = raw.split() + if not parts: + return False, False, None, 0 + cmd = parts[0].lower() + + if cmd == "q": + return True, False, None, 0 + elif cmd == "r": + current_action[:] = 0.0 + return False, True, None, 0 + elif cmd == "0": + current_action[:] = 0.0 + print(" All actions zeroed.") + elif cmd == "a": + print(f" Current action: {[f'{v:.3f}' for v in current_action.tolist()]}") + elif cmd in _AXIS_MAP: + if len(parts) < 2: + print(f" Usage: {cmd} [n_steps] (e.g. '{cmd} -1.0 30')") + else: + try: + val = float(parts[1]) + burst = int(parts[2]) if len(parts) >= 3 else 0 + current_action[_AXIS_MAP[cmd]] = val + mode_str = f"burst {burst} steps" if burst > 0 else "persistent" + print(f" action[{cmd}] = {val:.3f} ({mode_str}) full: {[f'{v:.3f}' for v in current_action.tolist()]}") + return False, False, None, burst + except ValueError: + print(f" Invalid value(s): {parts[1:]}") + elif cmd == "f": + return False, False, "fast", 0 + elif cmd == "s": + return False, False, "slow", 0 + else: + print(" Unknown command. Try 'z -1.0 30' to push down, '0' to stop, 'q' to quit.") + return False, False, None, 0 + + +# --------------------------------------------------------------------------- +# Main +# --------------------------------------------------------------------------- + + +def main(): + env_cfg, _ = resolve_task_config(TASK, "") + + with launch_simulation(env_cfg, args_cli): + env_cfg.scene.num_envs = args_cli.num_envs + if args_cli.device is not None: + env_cfg.sim.device = args_cli.device + + # Disable pose randomization — fixed geometry for reproducible insertion tests. + zero_range = {"x": [0.0, 0.0], "y": [0.0, 0.0], "z": [0.0, 0.0], + "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0]} + env_cfg.events.randomize_socket_pose.params["pose_range"] = zero_range + + # --start_seated: spawn plug at the fully-mated position (blade fully inside socket). + # Uses geometry: z_clearance = -_INSERTION_LENGTH (negative = inside socket). + z_clearance = -args_cli.insert_depth if args_cli.start_seated else args_cli.z_clearance + new_plug_root, new_plug_rot = compute_plug_pose(_GEOMETRY_POS, _SOCKET_ROT, z_clearance=z_clearance) + env_cfg.scene.dp_plug.init_state.pos = new_plug_root + env_cfg.scene.dp_plug.init_state.rot = new_plug_rot + if args_cli.start_seated: + print(f" Plug start: {args_cli.insert_depth*1e3:.0f} mm inside socket root={tuple(f'{v:.4f}' for v in new_plug_root)}") + # Spawning inside the socket causes collision overlap → huge depenetration forces. + # Cap the depenetration velocity so PhysX resolves the overlap gradually. + env_cfg.scene.dp_plug.spawn.rigid_props.max_depenetration_velocity = 0.05 + else: + print(f" Plug start: {z_clearance*1e3:.0f} mm above socket root={tuple(f'{v:.4f}' for v in new_plug_root)}") + + if hasattr(env_cfg.events, "randomize_plug_pose"): + env_cfg.events.randomize_plug_pose.params["pose_range"] = zero_range + if hasattr(env_cfg.events, "reset_plug_curriculum"): + env_cfg.events.reset_plug_curriculum.params["at_goal_prob"] = 0.0 + env_cfg.events.reset_plug_curriculum.params["normal_pose_range"] = zero_range + + # Enable inertial dynamics decoupling for cleaner manual control. + # gravity_compensation must remain False: the robot links have disable_gravity=True in PhysX, + # so OSC gravity torques would push the arm upward against non-existent gravity. + if hasattr(env_cfg.actions, "arm_action") and hasattr(env_cfg.actions.arm_action, "controller_cfg"): + env_cfg.actions.arm_action.controller_cfg.inertial_dynamics_decoupling = True + + env = gym.make(TASK, cfg=env_cfg) + env.reset() + + if args_cli.start_seated: + # Run settle steps with zero action so PhysX can gently resolve any spawn overlap + # before handing control to the user. + print(" Settling physics (50 steps) ...") + settle_actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) + for _ in range(50): + with torch.inference_mode(): + env.step(settle_actions) + print(" Settled.") + + if args_cli.show_colliders: + import carb + s = carb.settings.get_settings() + s.set("/physics/visualizationDisplayColliders", True) + print(" Collision meshes enabled.") + + action_dim = env.action_space.shape[-1] + current_action = torch.zeros(action_dim) # 6D OSC action, persists across steps + actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) + + # pose_rel with zero action sets target = current pos each step → no restoring force. + # We hold position explicitly by tracking a reference EEF position and issuing a + # corrective action to drive back to it during the idle loop. + hold_eef_pos = _get_eef_pos(env) # world-frame (3,) tensor, updated after reset/burst + + slow_mode = True + step_delay = args_cli.step_delay + + print(HELP) + _print_poses(env) + print(f"Sim running — slow mode ({step_delay}s/step). Type commands anytime.\n") + + while True: + line = _check_stdin() + if line is not None: + cmd0 = line.lower().split()[0] if line.split() else "" + + if cmd0 == "p": + _print_poses(env) + continue + + quit_flag, reset_flag, mode, burst = _handle_command(line, current_action) + if quit_flag: + break + if reset_flag: + env.reset() + current_action[:] = 0.0 + hold_eef_pos = _get_eef_pos(env) + print(" Scene reset — robot re-grasping plug.") + _print_poses(env) + continue + if mode == "fast": + slow_mode = False + print(" Fast mode.") + continue + elif mode == "slow": + slow_mode = True + print(f" Slow mode ({step_delay}s/step).") + continue + + if burst > 0: + # Run burst steps with XY locking: record starting EEF XY and add + # proportional corrections each step to cancel kinematic X-Z coupling. + # The coupling is geometric (arm Jacobian cross-terms), not inertial, + # so OSC tuning alone cannot eliminate it. + start_eef = _get_eef_pos(env) + # Gain converts metres of XY error → action units (1 / position_scale). + # 0.025 is _ACTION_SCALE from task_space_env_cfg. + _XY_LOCK_GAIN = 1.0 / 0.025 + for _ in range(burst): + step_action = current_action.clone() + if start_eef is not None: + cur_eef = _get_eef_pos(env) + if cur_eef is not None: + xy_err = start_eef[:2] - cur_eef[:2] + step_action[0] += float(xy_err[0]) * _XY_LOCK_GAIN + step_action[1] += float(xy_err[1]) * _XY_LOCK_GAIN + actions[:] = torch.tensor(step_action, device=env.unwrapped.device) + with torch.inference_mode(): + env.step(actions) + # After burst: update hold reference to the new EEF position. + current_action[:] = 0.0 + actions[:] = 0.0 + hold_eef_pos = _get_eef_pos(env) + print(f" Burst done ({burst} steps).") + _print_poses(env) + continue + else: + # Persistent action set: snapshot current EEF XY as lock reference so + # the idle loop can cancel X-Z Jacobian coupling during the push. + new_eef = _get_eef_pos(env) + if new_eef is not None: + hold_eef_pos = new_eef + + # Idle loop: apply current_action + XY proportional correction to cancel + # kinematic coupling. XY correction always runs; Z hold only when fully idle. + _HOLD_GAIN = 1.0 / 0.025 # metres → action units + idle_action = current_action.clone() + if hold_eef_pos is not None: + cur_eef = _get_eef_pos(env) + if cur_eef is not None: + xy_err = hold_eef_pos[:2] - cur_eef[:2] + idle_action[0] += float(xy_err[0]) * _HOLD_GAIN + idle_action[1] += float(xy_err[1]) * _HOLD_GAIN + if current_action.abs().max() < 1e-6: + # Full XYZ hold when no action is active. + idle_action[2] += float(hold_eef_pos[2] - cur_eef[2]) * _HOLD_GAIN + actions[:] = torch.tensor(idle_action, device=env.unwrapped.device) + with torch.inference_mode(): + env.step(actions) + + if slow_mode: + time.sleep(step_delay) + + env.close() + + +if __name__ == "__main__": + main() diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py index 905b84698e2f..a9d37528e276 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py @@ -68,7 +68,7 @@ class DisplayPortPlug(RigidObjectCfg): # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, needs scale=0.0254 # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/plug/conform/fet001-minimal/plug_material_physics.usd", # old: absolute path, convexHull - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_watertight.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_sdf.usd"), # pipeline output post-processed by finalize_dp_assets.py: metres, single root RB, convexDecomposition. scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, @@ -118,7 +118,7 @@ class DisplayPortSocket(RigidObjectCfg): # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, needs scale=0.0254 # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/socket/conform/fet001-minimal/socket_material_physics.usd", # old: absolute path - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_sdf.usd"), # pipeline output post-processed by finalize_dp_assets.py: metres, kinematic root, all bodies enabled. scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd index 5ef83cf196e4..45f536ba692f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3b2c3a133f29ea94b56aa04a1c2e44bb6ad6ab6b2320e0235ad545d8c76cd6e1 -size 1769975 +oid sha256:0728050d3f268991546b3214006b931e94d7596a3d8c26e6a1b33e0861739486 +size 2686744 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 6d8893752148..8aa7845b0681 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -153,8 +153,9 @@ class DisplayPortPlug(RigidObjectCfg): max_contact_impulse=None, ), mass_props=sim_utils.MassPropertiesCfg(mass=0.03), - # Body5 clearance to blade is ~0.27mm — contact_offset must stay below that. - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), + # Body5 clearance to blade is ~0.27mm. PhysX fires contact at (plug + socket) offsets combined + # (0.27mm physical gap). Keep plug offset small so there's real clearance before repulsion starts. + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.00001, rest_offset=-0.00005), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=_DEFAULT_PLUG_ROT) @@ -186,7 +187,8 @@ class DisplayPortSocket(RigidObjectCfg): max_contact_impulse=1e32, ), mass_props=sim_utils.MassPropertiesCfg(mass=None), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), + # rest_offset negative on socket too: combined rest = -0.15mm so blade can slide in. + collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=-0.0001), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_SOCKET_ROOT_POS, rot=_DEFAULT_SOCKET_ROT) From 6b0d4bbc7d3de71060a6aece28aa7c0078637cb8 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 23 Jun 2026 14:39:18 -0700 Subject: [PATCH 24/65] Fixed plug and socket SDF assets. --- .../display_port_plug_fixed_sdf.usd | 4 ++-- .../display_port_socket_fixed_sdf.usd | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd index 45f536ba692f..e3e65d95be93 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0728050d3f268991546b3214006b931e94d7596a3d8c26e6a1b33e0861739486 -size 2686744 +oid sha256:b9f1b7fc6f1ea314f9a43a5967836dcb3f35b27b163885b179efc45c7a1cd52d +size 1885641 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd index f90bff7e325d..c09893a0dfb6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:43bc333886f49aadb86d1374221f5a1f0e2007ef67bd775095187802607dc159 -size 1459285 +oid sha256:31e887054230443174cc9371d6f60a7a04fc7dd6e69f2c454b755a7d359cb844 +size 1459326 From 7873866c57efc088969ecc57a6a72c04c348737d Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 23 Jun 2026 18:14:58 -0700 Subject: [PATCH 25/65] Fixed socket sdf asset (removed body4/inner walls) and updated env. --- .../display_port_socket_fixed_sdf_noprotrusions.usd | 3 +++ .../deploy/cable_insertion/displayport_insertion_env_cfg.py | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd new file mode 100644 index 000000000000..da586695e9df --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06f2c4d67bda068d9d5f61e0c2e2c35e7812d4cc574521c1ce34d9b280fdca9a +size 1460990 diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 8aa7845b0681..709e4dc04bcb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -169,7 +169,7 @@ class DisplayPortSocket(RigidObjectCfg): # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, multi-body # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), # old: triangleMesh, may have entrance artifacts - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_sdf.usd"), + usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_sdf_noprotrusions.usd"), # scale=_DP_SCALE, # old: inch→metre workaround scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, @@ -245,6 +245,7 @@ class PolicyCfg(ObsGroup): params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, noise=ResetSampledConstantNoiseModelCfg( noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") + # noise_cfg=UniformNoiseCfg(n_min=-0.00, n_max=0.00, operation="add") ), ) socket_quat = ObsTerm( From 6ca8a9675bdf0e52b3e0564fc7fe74ed48743fb1 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 23 Jun 2026 18:55:36 -0700 Subject: [PATCH 26/65] Fixed env setup. --- .../displayport_rizon_4s/joint_pos_env_cfg.py | 24 ++++++++++++------- .../ros_inference_env_cfg.py | 16 +++++++++---- .../task_space_env_cfg.py | 14 +++++------ .../task_space_ros_inference_env_cfg.py | 16 ++++++------- 4 files changed, 42 insertions(+), 28 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 8c9dd3a9e5e0..d1067dd91358 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -10,6 +10,8 @@ plug is grasped at reset and the goal is the verified seated mate. """ +import math + import torch import isaaclab.sim as sim_utils @@ -39,7 +41,7 @@ # station and must be re-measured for the real DisplayPort fixture (reachable by # the Flexiv, socket opening facing +Z). Verify the reset poses against the live # sim (see scripts/dp_probe_pose_geometry.py) before training. -_GEOMETRY_POS = (0.481, -0.073, 0.071) +_GEOMETRY_POS = (0.475, 0.125, 0.06) _SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) # opening faces +Z (top-down insertion) _PLUG_CLEARANCE_Z = 0.068 @@ -151,6 +153,9 @@ class EventCfg: "x": [-0.01, 0.01], "y": [-0.01, 0.01], "z": [-0.01, 0.01], + # "x": [-0.00, 0.00], + # "y": [-0.00, 0.00], + # "z": [-0.00, 0.00], "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0], @@ -168,6 +173,9 @@ class EventCfg: "x": [-0.02, 0.02], "y": [-0.02, 0.02], "z": [-0.01, 0.01], + # "x": [-0.0, 0.0], + # "y": [-0.0, 0.0], + # "z": [-0.0, 0.0], "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0], @@ -309,13 +317,13 @@ def __post_init__(self): ), init_state=ArticulationCfg.InitialStateCfg( joint_pos={ - "joint1": 0.0, - "joint2": -0.698, - "joint3": 0.0, - "joint4": 1.571, - "joint5": 0.0, - "joint6": 0.698, - "joint7": 0.0, + "joint1": math.radians(32.44), + "joint2": math.radians(-16.71), + "joint3": math.radians(-5.69), + "joint4": math.radians(128.38), + "joint5": math.radians(6.74), + "joint6": math.radians(55.95), + "joint7": math.radians(111.54), }, pos=(0.0, 0.0, 0.0), rot=(0.0, 0.0, 0.0, 1.0), diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index 5be704559fa1..edc78578d083 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -28,8 +28,7 @@ # CALIBRATE: geometry pos seeded from the training-env value (GB300 Hubble table # mount). Re-measure the real DisplayPort fixture pose for the actual station. # The socket rotation keeps the verified DP orientation (opening facing +Z). -# -_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) -_HUBBLE_GEOMETRY_POS = (0.481, -0.073, 0.071) +_HUBBLE_GEOMETRY_POS = (0.475, 0.125, 0.06) _HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) _HUBBLE_PLUG_CLEARANCE_Z = 0.068 @@ -67,11 +66,18 @@ def __post_init__(self): self.action_scale_joint_space = [self.joint_action_scale] * self.action_space # --- Flexiv Rizon 4s mount: vertical (table-top) --- - # CALIBRATE: home joint pose matches the training-env default (standard - # Rizon 4s upright home). Re-tune for the physical station before - # on-robot inference. + # Home joint pose seeds the grasp IK; set to the physical station's pose. self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) + self.scene.robot.init_state.joint_pos = { + "joint1": math.radians(32.44), + "joint2": math.radians(-16.71), + "joint3": math.radians(-5.69), + "joint4": math.radians(128.38), + "joint5": math.radians(6.74), + "joint6": math.radians(55.95), + "joint7": math.radians(111.54), + } # Wall-mount configuration (GB300 Hubble Lab, rot=(0.5,0.5,0.5,0.5)): # self.scene.robot.init_state.joint_pos = { diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 007c1cb08e9a..e4c264f176a8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -354,13 +354,13 @@ def __post_init__(self): ), init_state=ArticulationCfg.InitialStateCfg( joint_pos={ - "joint1": 0.0, - "joint2": -0.698, - "joint3": 0.0, - "joint4": 1.571, - "joint5": 0.0, - "joint6": 0.698, - "joint7": 0.0, + "joint1": math.radians(32.44), + "joint2": math.radians(-16.71), + "joint3": math.radians(-5.69), + "joint4": math.radians(128.38), + "joint5": math.radians(6.74), + "joint6": math.radians(55.95), + "joint7": math.radians(111.54), }, pos=(0.0, 0.0, 0.0), rot=(0.0, 0.0, 0.0, 1.0), diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py index 2f30cb69f002..3833386bb1f1 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py @@ -27,7 +27,7 @@ # --------------------------------------------------------------------------- # CALIBRATE: deployment values seeded from the GB300 cable-insertion ROS config; # re-measure for the real DisplayPort station (see ros_inference_env_cfg.py). -_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) +_HUBBLE_GEOMETRY_POS = (0.475, 0.125, 0.06) _HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) _HUBBLE_PLUG_CLEARANCE_Z = 0.068 @@ -80,13 +80,13 @@ def __post_init__(self): # CALIBRATE: home joint pose / mount seeded from GB300; align with the # physical DisplayPort station before on-robot inference. self.scene.robot.init_state.joint_pos = { - "joint1": math.radians(-145), - "joint2": math.radians(80), - "joint3": math.radians(-5), - "joint4": math.radians(90.0), - "joint5": math.radians(55), - "joint6": 0.0, - "joint7": math.radians(170), + "joint1": math.radians(32.44), + "joint2": math.radians(-16.71), + "joint3": math.radians(-5.69), + "joint4": math.radians(128.38), + "joint5": math.radians(6.74), + "joint6": math.radians(55.95), + "joint7": math.radians(111.54), } self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) From 8597c096e0c429716c3ca7259712ff11c4dd2af9 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 23 Jun 2026 18:58:10 -0700 Subject: [PATCH 27/65] Increased socket pose randomization. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index d1067dd91358..7c1484674b29 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -150,9 +150,9 @@ class EventCfg: mode="reset", params={ "pose_range": { - "x": [-0.01, 0.01], - "y": [-0.01, 0.01], - "z": [-0.01, 0.01], + "x": [-0.02, 0.02], + "y": [-0.02, 0.02], + "z": [-0.02, 0.02], # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], From 0b50c996f0bdbfff217f866a9fb72397acc5a2ba Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 23 Jun 2026 19:00:11 -0700 Subject: [PATCH 28/65] Socket rotation randomization (2 deg). --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 7c1484674b29..fc48a6eb4f39 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -150,15 +150,15 @@ class EventCfg: mode="reset", params={ "pose_range": { - "x": [-0.02, 0.02], - "y": [-0.02, 0.02], - "z": [-0.02, 0.02], + "x": [-0.01, 0.01], + "y": [-0.01, 0.01], + "z": [-0.01, 0.01], # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 2d885357a7ddc04c329318beab31f18bf1e95c5a Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 24 Jun 2026 14:25:16 -0700 Subject: [PATCH 29/65] Reverted to prev env setup and removed rot randomization in socket. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 9 ++++++--- .../config/displayport_rizon_4s/ros_inference_env_cfg.py | 3 ++- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index fc48a6eb4f39..ffc518de0d86 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -156,9 +156,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0., 0.], + "pitch": [0., 0.], + "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index edc78578d083..69aaa1be041a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -28,7 +28,8 @@ # CALIBRATE: geometry pos seeded from the training-env value (GB300 Hubble table # mount). Re-measure the real DisplayPort fixture pose for the actual station. # The socket rotation keeps the verified DP orientation (opening facing +Z). -_HUBBLE_GEOMETRY_POS = (0.475, 0.125, 0.06) +# _HUBBLE_GEOMETRY_POS = (0.475, 0.125, 0.06) +_HUBBLE_GEOMETRY_POS = (0.481, -0.073, 0.06) _HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) _HUBBLE_PLUG_CLEARANCE_Z = 0.068 From 8e0db5e68c00624c5ff93512ba3ac34fdea97ecc Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 25 Jun 2026 12:07:19 -0700 Subject: [PATCH 30/65] Adding socket rot randomization and moving to new socket setup. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ .../displayport_rizon_4s/ros_inference_env_cfg.py | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index ffc518de0d86..987b2316e546 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -156,12 +156,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0., 0.], - "pitch": [0., 0.], - "yaw": [0., 0.], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0., 0.], + # "pitch": [0., 0.], + # "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index 69aaa1be041a..8cadea37e9e8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -28,8 +28,8 @@ # CALIBRATE: geometry pos seeded from the training-env value (GB300 Hubble table # mount). Re-measure the real DisplayPort fixture pose for the actual station. # The socket rotation keeps the verified DP orientation (opening facing +Z). -# _HUBBLE_GEOMETRY_POS = (0.475, 0.125, 0.06) -_HUBBLE_GEOMETRY_POS = (0.481, -0.073, 0.06) +_HUBBLE_GEOMETRY_POS = (0.476, 0.127, 0.07) +# _HUBBLE_GEOMETRY_POS = (0.481, -0.073, 0.071) _HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) _HUBBLE_PLUG_CLEARANCE_Z = 0.068 From 291ad7784b27c76d6006c1fe3817188977e61fda Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 25 Jun 2026 12:10:23 -0700 Subject: [PATCH 31/65] Increased socket z randomization to 2 cm. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 987b2316e546..5a8976de2a27 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -152,7 +152,7 @@ class EventCfg: "pose_range": { "x": [-0.01, 0.01], "y": [-0.01, 0.01], - "z": [-0.01, 0.01], + "z": [-0.02, 0.02], # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], From a25a527a776a16c564cb9e9793b5bd23fadaa7f3 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 25 Jun 2026 12:12:38 -0700 Subject: [PATCH 32/65] Removed socket rot rand. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 5a8976de2a27..de7b7a97af22 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -156,12 +156,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0., 0.], - # "pitch": [0., 0.], - # "yaw": [0., 0.], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0., 0.], + "pitch": [0., 0.], + "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 7f59b6002c4f853f79410c74e7887f25e13c36b0 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 25 Jun 2026 12:14:17 -0700 Subject: [PATCH 33/65] Decreased socket z rand to 1cm. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index de7b7a97af22..ffc518de0d86 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -152,7 +152,7 @@ class EventCfg: "pose_range": { "x": [-0.01, 0.01], "y": [-0.01, 0.01], - "z": [-0.02, 0.02], + "z": [-0.01, 0.01], # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], From a09281bc62ec1e5f876705cb186769eada4336d2 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 29 Jun 2026 16:04:55 -0700 Subject: [PATCH 34/65] Fixed task space env setup to vertical mount. --- .../task_space_env_cfg.py | 52 ++++++++++++++----- .../task_space_ros_inference_env_cfg.py | 30 +++++++---- 2 files changed, 60 insertions(+), 22 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index e4c264f176a8..7cf9edb94975 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -201,26 +201,52 @@ class TaskSpaceEventCfg: }, ) - reset_plug_curriculum = EventTerm( - func=mdp.reset_plug_at_goal_curriculum, + # Plug start: matches the joint-space env (plug starts above the socket with + # uniform position randomization). Kept identical so the only difference + # between the joint-space and task-space envs is the controller space. + randomize_plug_pose = EventTerm( + func=mdp.reset_root_state_uniform, mode="reset", params={ - "plug_cfg": SceneEntityCfg("dp_plug"), - "socket_cfg": SceneEntityCfg("dp_socket"), - "at_goal_prob": 0.8, - "insertion_axis": [1.0, 0.0, 0.0], - "insertion_length": _INSERTION_LENGTH, - "socket_insertion_offset": SOCKET_INSERTION_OFFSET, - "plug_insertion_offset": PLUG_INSERTION_OFFSET, - "goal_rot": list(PLUG_GOAL_ROT), - "normal_pose_range": { - "x": [-0.01, 0.01], - "y": [-0.01, 0.01], + "pose_range": { + "x": [-0.02, 0.02], + "y": [-0.02, 0.02], "z": [-0.01, 0.01], + # "x": [-0.0, 0.0], + # "y": [-0.0, 0.0], + # "z": [-0.0, 0.0], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], }, + "velocity_range": {}, + "asset_cfg": SceneEntityCfg("dp_plug"), }, ) + # Old: 80% at-goal curriculum (task-space-specific plug-start strategy). + # Disabled so the plug-start setup matches the joint-space env exactly. + # Re-enable (and comment out randomize_plug_pose above) to restore it. + # reset_plug_curriculum = EventTerm( + # func=mdp.reset_plug_at_goal_curriculum, + # mode="reset", + # params={ + # "plug_cfg": SceneEntityCfg("dp_plug"), + # "socket_cfg": SceneEntityCfg("dp_socket"), + # "at_goal_prob": 0.8, + # "insertion_axis": [1.0, 0.0, 0.0], + # "insertion_length": _INSERTION_LENGTH, + # "socket_insertion_offset": SOCKET_INSERTION_OFFSET, + # "plug_insertion_offset": PLUG_INSERTION_OFFSET, + # "goal_rot": list(PLUG_GOAL_ROT), + # "normal_pose_range": { + # "x": [-0.01, 0.01], + # "y": [-0.01, 0.01], + # "z": [-0.01, 0.01], + # }, + # }, + # ) + set_robot_to_grasp_pose = EventTerm( func=mdp.set_robot_to_object_grasp_pose, mode="reset", diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py index 3833386bb1f1..fdb29086dc74 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py @@ -41,14 +41,14 @@ @configclass class Rizon4sTaskSpaceDisplayportInsertionROSInferenceEnvCfg(Rizon4sTaskSpaceDisplayportInsertionEnvCfg): - """Task-space ROS / Isaac Manipulator inference config for NVIDIA Hubble Lab. + """Task-space ROS / Isaac Manipulator inference config. This configuration: - Exposes variables needed by Isaac Manipulator for on-robot inference with task-space (OSC) control and 6D rotation observations. - - Aligns robot mounting pose with the Flexiv Rizon 4s installation at - NVIDIA Hubble Lab (wall-mount with 90 deg rotation about negative X-axis). + - Aligns robot mounting pose with a vertical (table-top) Flexiv Rizon 4s + installation (matching the joint-space ROS inference config). - Overrides plug and socket initial poses for a fixed/deterministic setup. """ @@ -76,9 +76,10 @@ def __post_init__(self): self.action_scale = [_ACTION_SCALE] * self.action_space - # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- - # CALIBRATE: home joint pose / mount seeded from GB300; align with the - # physical DisplayPort station before on-robot inference. + # --- Flexiv Rizon 4s mount: vertical (table-top) --- + # Home joint pose seeds the grasp IK; set to the physical station's pose. + self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) + self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) self.scene.robot.init_state.joint_pos = { "joint1": math.radians(32.44), "joint2": math.radians(-16.71), @@ -89,8 +90,17 @@ def __post_init__(self): "joint7": math.radians(111.54), } - self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) - self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) + # Wall-mount configuration (NVIDIA Hubble Lab, rot=(0.5,0.5,0.5,0.5)): + # self.scene.robot.init_state.joint_pos = { + # "joint1": math.radians(-90.0), + # "joint2": math.radians(90.0), + # "joint3": 0.0, + # "joint4": math.radians(90.0), + # "joint5": 0.0, + # "joint6": 0.0, + # "joint7": 0.0, + # } + # self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( pos=_HUBBLE_SOCKET_ROOT, @@ -114,7 +124,9 @@ def __post_init__(self): pose_range["z"][1], ] # CALIBRATE: euler equivalent of the DP socket orientation at the station. - self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] + # Wall-mount was [0.0, 0.0, -90.0]; vertical mount seeds to [0.0, 0.0, 0.0]. + # self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] + self.fixed_asset_init_orn_deg = [0.0, 0.0, 0.0] self.fixed_asset_init_orn_deg_range = [ math.degrees(pose_range["roll"][1]), math.degrees(pose_range["pitch"][1]), From 1e4183087748e51d30fe404ad515c72c7d1fbef6 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 29 Jun 2026 16:29:29 -0700 Subject: [PATCH 35/65] Fixed task space env to use TCP pose instead of flange. --- .../contrib/deploy/mdp/observations.py | 21 ++++++++++++++++++- .../task_space_env_cfg.py | 13 +++++++++++- 2 files changed, 32 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py index 4a2c7e22e4b5..5a5c02fd6f97 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py @@ -478,11 +478,15 @@ class eef_pos_w(ManagerTermBase): """End-effector position in the environment frame. Gets the position of a specified body on a robot articulation and - returns it relative to the environment origin. + returns it relative to the environment origin. An optional 3D offset can be + applied in the body's local frame, e.g. to report the gripper tool-center + point (TCP) rather than the raw flange. Args: asset_cfg: The robot articulation configuration. Required. body_name: Name of the end-effector body link. Required. + offset: A 3D offset ``[x, y, z]`` [m] applied in the body's local frame. + Defaults to ``[0, 0, 0]``. Returns: EEF position tensor, shape ``[num_envs, 3]`` [m]. @@ -500,13 +504,28 @@ def __init__(self, cfg: ObservationTermCfg, env: ManagerBasedRLEnv): self.body_name: str = cfg.params["body_name"] self.body_idx = self.robot.find_bodies(self.body_name)[0][0] + offset = cfg.params.get("offset", [0.0, 0.0, 0.0]) + self.offset_tensor = torch.tensor(offset, device=env.device, dtype=torch.float32) + self.identity_quat = ( + torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=env.device, dtype=torch.float32) + .repeat(env.num_envs, 1) + .contiguous() + ) + def __call__( self, env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg | None = None, body_name: str | None = None, + offset: list | None = None, ) -> torch.Tensor: body_pos = wp.to_torch(self.robot.data.body_pos_w)[:, self.body_idx, :] + + if torch.any(self.offset_tensor != 0): + body_quat = wp.to_torch(self.robot.data.body_quat_w)[:, self.body_idx, :] + offset_repeated = self.offset_tensor.unsqueeze(0).repeat(env.num_envs, 1) + body_pos, _ = combine_frame_transforms(body_pos, body_quat, offset_repeated, self.identity_quat) + return body_pos - env.scene.env_origins diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 7cf9edb94975..4aaf28c52872 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -64,6 +64,14 @@ # ~11 mm of blade nests in the socket cavity at the verified seated pose. _INSERTION_LENGTH = 0.011 +# Gripper tool-center-point (TCP) offset from the flange body, in the flange's +# local frame [m]. The policy observes the TCP pose (where the plug is actually +# held), not the raw flange. Matches IsaacLab_UR's Flexiv + Grav +# ``gripper_eef_pos_local = [0.0, 0.0, 0.2 - 0.0075]``. Direct cross-check: in +# the live grasp the flange sits ~0.1875-0.1925 m above the held plug along the +# tool axis. +_TCP_OFFSET = [0.0, 0.0, 0.2 - 0.0075] + ## # Pre-defined configs ## @@ -83,10 +91,13 @@ class TaskSpaceObservationsCfg: class PolicyCfg(ObsGroup): """Actor observations: EEF pose + socket keypoint frame (18 dims).""" + # Observe the gripper TCP pose (flange + _TCP_OFFSET), not the raw flange. eef_pos = ObsTerm( func=mdp.eef_pos_w, - params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, + params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange", "offset": _TCP_OFFSET}, ) + # TCP shares the flange orientation (pure-translation offset), so the 6D + # rotation is read directly from the flange body. eef_rot_6d = ObsTerm( func=mdp.eef_rot_6d_w, params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, From 24ee8dd66f896d16513b40a85f6763530a122af3 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 29 Jun 2026 17:04:42 -0700 Subject: [PATCH 36/65] Adding socket rot randomization in taskspace env. --- .../config/displayport_rizon_4s/task_space_env_cfg.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 4aaf28c52872..d2b775eed9fb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -203,9 +203,12 @@ class TaskSpaceEventCfg: "x": [-0.01, 0.01], "y": [-0.01, 0.01], "z": [-0.01, 0.01], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0.0, 0.0], + # "pitch": [0.0, 0.0], + # "yaw": [0.0, 0.0], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 3c3004702d6bcef00ffb9e107c677943c8d9cef5 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 29 Jun 2026 17:06:08 -0700 Subject: [PATCH 37/65] Increased socket z randomization to 2 cm in taskspace. --- .../config/displayport_rizon_4s/task_space_env_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index d2b775eed9fb..0637aca56199 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -202,7 +202,7 @@ class TaskSpaceEventCfg: "pose_range": { "x": [-0.01, 0.01], "y": [-0.01, 0.01], - "z": [-0.01, 0.01], + "z": [-0.02, 0.02], "roll": [-math.radians(2.0), math.radians(2.0)], "pitch": [-math.radians(2.0), math.radians(2.0)], "yaw": [-math.radians(2.0), math.radians(2.0)], From 499280cefb1164fd5790b4d162b36e6f4a8a922d Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 29 Jun 2026 17:07:05 -0700 Subject: [PATCH 38/65] Removed socket rot rand from taskspace. --- .../displayport_rizon_4s/task_space_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 0637aca56199..51adb207b246 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -203,12 +203,12 @@ class TaskSpaceEventCfg: "x": [-0.01, 0.01], "y": [-0.01, 0.01], "z": [-0.02, 0.02], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0.0, 0.0], - # "pitch": [0.0, 0.0], - # "yaw": [0.0, 0.0], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From ad6026492a0c25d9e17b091dca3b8ccedba36720 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 30 Jun 2026 12:28:12 -0700 Subject: [PATCH 39/65] Enabled curriculum training for task space. --- .../contrib/deploy/mdp/events.py | 55 ++++++++-- .../task_space_env_cfg.py | 100 ++++++++++-------- 2 files changed, 106 insertions(+), 49 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index 1f590d92b73b..2c4243707936 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -795,6 +795,18 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): self.at_goal_prob: float = cfg.params.get("at_goal_prob", 0.8) + # Optional linear annealing of at_goal_prob over training iterations. + # `at_goal_prob` is the starting value; it decays linearly to + # `at_goal_prob_final` between `anneal_start_iter` and `anneal_end_iter`. + # Annealing is active only when both `at_goal_prob_final` and + # `anneal_end_iter` are provided (otherwise the probability is constant). + # Iterations are derived from the env step counter via `num_steps_per_env` + # (one RL iteration == `num_steps_per_env` env steps). + self.at_goal_prob_final = cfg.params.get("at_goal_prob_final", None) + self.anneal_start_iter: float = cfg.params.get("anneal_start_iter", 0.0) + self.anneal_end_iter = cfg.params.get("anneal_end_iter", None) + self.num_steps_per_env = cfg.params.get("num_steps_per_env", None) + insertion_axis = cfg.params.get("insertion_axis", [0.0, 0.0, 1.0]) self.insertion_axis = torch.tensor(insertion_axis, device=env.device, dtype=torch.float32) self.insertion_axis = self.insertion_axis / self.insertion_axis.norm() @@ -816,6 +828,26 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): [0.0, 0.0, 0.0, 1.0], device=env.device, dtype=torch.float32 ) + def _current_at_goal_prob(self, env: ManagerBasedEnv) -> float: + """Return the at-goal probability for the current training progress. + + Linearly interpolates from ``at_goal_prob`` to ``at_goal_prob_final`` + between ``anneal_start_iter`` and ``anneal_end_iter``. Returns the + constant ``at_goal_prob`` when annealing is not fully configured. + """ + if ( + self.at_goal_prob_final is None + or self.anneal_end_iter is None + or not self.num_steps_per_env + ): + return self.at_goal_prob + + current_iter = env.common_step_counter / float(self.num_steps_per_env) + span = max(float(self.anneal_end_iter) - float(self.anneal_start_iter), 1e-9) + frac = (current_iter - float(self.anneal_start_iter)) / span + frac = min(max(frac, 0.0), 1.0) + return self.at_goal_prob + frac * (float(self.at_goal_prob_final) - self.at_goal_prob) + def __call__( self, env: ManagerBasedEnv, @@ -829,6 +861,10 @@ def __call__( plug_insertion_offset: list | None = None, goal_rot: list | None = None, normal_pose_range: dict | None = None, + at_goal_prob_final: float | None = None, + anneal_start_iter: float = 0.0, + anneal_end_iter: float | None = None, + num_steps_per_env: int | None = None, ): num_envs = len(env_ids) @@ -866,13 +902,20 @@ def __call__( plug_pos = normal_plug_pos.clone() plug_quat = normal_plug_quat.clone() - # At-goal curriculum: place fraction of envs along insertion axis - if self.at_goal_prob > 0.0 and num_envs > 0: - num_at_goal = int(num_envs * self.at_goal_prob) + # At-goal curriculum: place fraction of envs along insertion axis. + # The probability may be annealed over training iterations. + current_at_goal_prob = self._current_at_goal_prob(env) + if current_at_goal_prob > 0.0 and num_envs > 0: + # Per-env Bernoulli draw: each resetting env independently has + # probability `current_at_goal_prob` of being seeded at goal. This is + # robust to the reset batch size, including single-env resets + # (manager-based envs reset per-termination, so batches are often + # size 1 -- a fixed `int(num_envs * prob)` count would round down to + # 0 there). + at_goal_mask = torch.rand(num_envs, device=env.device) < current_at_goal_prob + at_goal_local = at_goal_mask.nonzero(as_tuple=False).squeeze(-1) + num_at_goal = int(at_goal_local.numel()) if num_at_goal > 0: - perm = torch.randperm(num_envs, device=env.device) - at_goal_local = perm[:num_at_goal] - depth_rand = torch.rand(num_at_goal, 1, device=env.device) goal_kp_pos = kp_origin_w[at_goal_local] + depth_rand * insertion_axis_w[at_goal_local] * self.insertion_length diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 51adb207b246..4aeeae5bfedf 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -203,64 +203,78 @@ class TaskSpaceEventCfg: "x": [-0.01, 0.01], "y": [-0.01, 0.01], "z": [-0.02, 0.02], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], + # "x": [-0.00, 0.00], + # "y": [-0.00, 0.00], + # "z": [-0.00, 0.00], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0.0, 0.0], + # "pitch": [0.0, 0.0], + # "yaw": [0.0, 0.0], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), }, ) - # Plug start: matches the joint-space env (plug starts above the socket with - # uniform position randomization). Kept identical so the only difference - # between the joint-space and task-space envs is the controller space. - randomize_plug_pose = EventTerm( - func=mdp.reset_root_state_uniform, + # Disabled: plain uniform plug randomization. Superseded by the at-goal + # curriculum below (re-enable this and comment out reset_plug_curriculum to + # match the joint-space env's plug-start setup exactly). + # randomize_plug_pose = EventTerm( + # func=mdp.reset_root_state_uniform, + # mode="reset", + # params={ + # "pose_range": { + # "x": [-0.02, 0.02], + # "y": [-0.02, 0.02], + # "z": [-0.01, 0.01], + # "roll": [0.0, 0.0], + # "pitch": [0.0, 0.0], + # "yaw": [0.0, 0.0], + # }, + # "velocity_range": {}, + # "asset_cfg": SceneEntityCfg("dp_plug"), + # }, + # ) + + # 80% at-goal curriculum (mirrors IsaacLab_UR gb300, osmo at_goal_prob=0.8). + # A fraction `at_goal_prob` of envs spawn the plug already inserted at a random + # depth (0 -> insertion_length) with goal orientation; the rest get uniform + # randomization around the approach pose via `normal_pose_range`. + # + # at_goal_prob is annealed linearly from `at_goal_prob` (start) down to + # `at_goal_prob_final` between iterations `anneal_start_iter` and + # `anneal_end_iter`, so the policy is weaned off goal-seeded starts and must + # learn the full approach by the end of training. Iterations are derived from + # the env step counter via `num_steps_per_env` (must match the agent cfg). + # To disable annealing, set `at_goal_prob_final=None` (constant at_goal_prob). + reset_plug_curriculum = EventTerm( + func=mdp.reset_plug_at_goal_curriculum, mode="reset", params={ - "pose_range": { + "plug_cfg": SceneEntityCfg("dp_plug"), + "socket_cfg": SceneEntityCfg("dp_socket"), + "at_goal_prob": 0.8, + "at_goal_prob_final": 0.2, + "anneal_start_iter": 0.0, + "anneal_end_iter": 1000.0, + "num_steps_per_env": 512, + "insertion_axis": [1.0, 0.0, 0.0], + "insertion_length": _INSERTION_LENGTH, + "socket_insertion_offset": SOCKET_INSERTION_OFFSET, + "plug_insertion_offset": PLUG_INSERTION_OFFSET, + "goal_rot": list(PLUG_GOAL_ROT), + # Non-at-goal approach randomization. Matches gb300's + # held_asset_init_pos_range = [0.02, 0.02, 0.01] (x, y, z) [m]. + "normal_pose_range": { "x": [-0.02, 0.02], "y": [-0.02, 0.02], "z": [-0.01, 0.01], - # "x": [-0.0, 0.0], - # "y": [-0.0, 0.0], - # "z": [-0.0, 0.0], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], }, - "velocity_range": {}, - "asset_cfg": SceneEntityCfg("dp_plug"), }, ) - # Old: 80% at-goal curriculum (task-space-specific plug-start strategy). - # Disabled so the plug-start setup matches the joint-space env exactly. - # Re-enable (and comment out randomize_plug_pose above) to restore it. - # reset_plug_curriculum = EventTerm( - # func=mdp.reset_plug_at_goal_curriculum, - # mode="reset", - # params={ - # "plug_cfg": SceneEntityCfg("dp_plug"), - # "socket_cfg": SceneEntityCfg("dp_socket"), - # "at_goal_prob": 0.8, - # "insertion_axis": [1.0, 0.0, 0.0], - # "insertion_length": _INSERTION_LENGTH, - # "socket_insertion_offset": SOCKET_INSERTION_OFFSET, - # "plug_insertion_offset": PLUG_INSERTION_OFFSET, - # "goal_rot": list(PLUG_GOAL_ROT), - # "normal_pose_range": { - # "x": [-0.01, 0.01], - # "y": [-0.01, 0.01], - # "z": [-0.01, 0.01], - # }, - # }, - # ) - set_robot_to_grasp_pose = EventTerm( func=mdp.set_robot_to_object_grasp_pose, mode="reset", From 453fd1c287ca14bf5f0cfbd60550626195fb8cf7 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 30 Jun 2026 15:22:46 -0700 Subject: [PATCH 40/65] Added no joint vel variant for joint space policy. --- .../config/displayport_rizon_4s/__init__.py | 32 +++++++++++++++++++ .../displayport_rizon_4s/joint_pos_env_cfg.py | 31 ++++++++++++++++++ .../ros_inference_env_cfg.py | 28 ++++++++++++++++ 3 files changed, 91 insertions(+) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py index 8ccb9b344958..e4bebea87c7d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py @@ -31,6 +31,38 @@ }, ) +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + +gym.register( + id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": ( + f"{__name__}.ros_inference_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelROSInferenceEnvCfg" + ), + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", + }, +) + gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0", entry_point="isaaclab.envs:ManagerBasedRLEnv", diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index ffc518de0d86..d3ee6ebb51cf 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -392,3 +392,34 @@ def __post_init__(self): self.scene.num_envs = 50 self.scene.env_spacing = 2.5 self.observations.policy.enable_corruption = False + + +@configclass +class Rizon4sGravDisplayportInsertionNoJointVelEnvCfg(Rizon4sGravDisplayportInsertionEnvCfg): + """Joint-space variant that hides joint velocity from the actor (policy). + + Identical to :class:`Rizon4sGravDisplayportInsertionEnvCfg` except the actor + observation drops joint velocity (actor sees joint positions + socket pose + only). The critic keeps joint velocity as privileged information, so the + value function is unaffected. Useful for testing velocity-free deployment + (e.g. when reliable joint-velocity estimates are not available on the real + robot). + """ + + def __post_init__(self): + super().__post_init__() + # Remove joint velocity from the actor group; setting a term to None + # disables it in the manager-based ObservationManager. The critic group + # still includes joint_vel. + self.observations.policy.joint_vel = None + + +@configclass +class Rizon4sGravDisplayportInsertionNoJointVelEnvCfg_PLAY(Rizon4sGravDisplayportInsertionNoJointVelEnvCfg): + """Play configuration for the no-joint-velocity joint-space variant.""" + + def __post_init__(self): + super().__post_init__() + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index 8cadea37e9e8..d82c9d5f5e9f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -130,3 +130,31 @@ def __post_init__(self): socket_pos_noise, socket_pos_noise, ] + + +@configclass +class Rizon4sGravDisplayportInsertionNoJointVelROSInferenceEnvCfg( + Rizon4sGravDisplayportInsertionROSInferenceEnvCfg +): + """ROS inference config for the velocity-free joint-space policy. + + Identical deployment setup to + :class:`Rizon4sGravDisplayportInsertionROSInferenceEnvCfg`, but the actor + observation drops joint velocity (the critic keeps it). The Isaac + Manipulator metadata is updated so the deployed observation vector and order + match the velocity-free actor. + """ + + def __post_init__(self): + super().__post_init__() + + # Drop joint velocity from the actor group (critic still includes it). + self.observations.policy.joint_vel = None + + # Isaac Manipulator metadata for the velocity-free actor. + self.obs_order = ["arm_dof_pos", "socket_pos", "socket_quat"] + # Observation: 7 joint pos + 3 socket pos + 4 socket quat = 14 + self.observation_space = 14 + # State (critic) is unchanged: 7 jpos + 7 jvel + 3 socket pos + 4 socket + # quat + 3 plug pos + 4 plug quat = 28. + self.state_space = 28 From 00074f5a06348a560833ca795218a1fff5ee56cf Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 30 Jun 2026 15:27:19 -0700 Subject: [PATCH 41/65] 2cm for z and 2 deg rot for socket randomization. --- .../displayport_rizon_4s/joint_pos_env_cfg.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index d3ee6ebb51cf..3021b1b4b2ac 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -152,16 +152,16 @@ class EventCfg: "pose_range": { "x": [-0.01, 0.01], "y": [-0.01, 0.01], - "z": [-0.01, 0.01], + "z": [-0.02, 0.02], # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0., 0.], - "pitch": [0., 0.], - "yaw": [0., 0.], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0., 0.], + # "pitch": [0., 0.], + # "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From ad6acf8d7f915a23823f1cae826505a708b6e3ae Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 09:27:27 -0700 Subject: [PATCH 42/65] Removed socket rot rand from taskspace. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 3021b1b4b2ac..59351543df64 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -156,12 +156,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0., 0.], - # "pitch": [0., 0.], - # "yaw": [0., 0.], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0., 0.], + "pitch": [0., 0.], + "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From c5029c06907dd42cf4021cb432c7605900c86b39 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 10:06:42 -0700 Subject: [PATCH 43/65] Added success rate logging. --- .../rsl_rl/success_utils.py | 87 ++++++++++ .../config/displayport_rizon_4s/__init__.py | 23 ++- .../displayport_insertion_env_cfg.py | 23 +++ .../deploy/cable_insertion/insertion_env.py | 164 ++++++++++++++++++ 4 files changed, 288 insertions(+), 9 deletions(-) create mode 100644 scripts/reinforcement_learning/rsl_rl/success_utils.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/insertion_env.py diff --git a/scripts/reinforcement_learning/rsl_rl/success_utils.py b/scripts/reinforcement_learning/rsl_rl/success_utils.py new file mode 100644 index 000000000000..6bf9aff75225 --- /dev/null +++ b/scripts/reinforcement_learning/rsl_rl/success_utils.py @@ -0,0 +1,87 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Helper for printing task-success statistics during RSL-RL inference/play. + +Works with any environment that exposes a ``_compute_success()`` method returning +``(is_success, pos_error, keypoint_dist)`` per environment (see +``deploy.cable_insertion.insertion_env.DisplayportInsertionEnv``). For other +environments the tracker disables itself gracefully. +""" + +from __future__ import annotations + +import torch + + +class SuccessTracker: + """Accumulate and format success statistics across play steps/episodes. + + Two rates are tracked: + + - **instantaneous success rate**: fraction of envs currently in the success + state (plug mate point within threshold of the socket mate point). + - **episode success rate**: fraction of completed episodes in which the env + reached the success state at least once. This is robust to the fact that + manager-based envs auto-reset inside ``step()`` (the terminal state is not + visible post-step), because success is accumulated from prior in-episode + steps. + """ + + def __init__(self, env): + self.base = env.unwrapped + self.enabled = hasattr(self.base, "_compute_success") + if not self.enabled: + return + n = self.base.num_envs + self.device = self.base.device + self._ever_success = torch.zeros(n, dtype=torch.bool, device=self.device) + self.num_episodes = 0 + self.num_success_episodes = 0 + + def update(self, dones) -> dict | None: + """Update stats after an ``env.step``. ``dones`` is the per-env done tensor. + + Returns a dict of scalars, or ``None`` if the env does not support success. + """ + if not self.enabled: + return None + + is_success, pos_error, keypoint_dist = self.base._compute_success() + dones_b = torch.as_tensor(dones, device=self.device).bool().view(-1) + + # An episode ends this step for done envs: record whether it reached success + # at any point (accumulated in prior steps), then reseed with the fresh state. + if dones_b.any(): + reached = self._ever_success[dones_b] + self.num_episodes += int(dones_b.sum().item()) + self.num_success_episodes += int(reached.sum().item()) + self._ever_success[dones_b] = is_success[dones_b] + # Accumulate success for ongoing episodes. + ongoing = ~dones_b + self._ever_success[ongoing] |= is_success[ongoing] + + episode_rate = (self.num_success_episodes / self.num_episodes) if self.num_episodes > 0 else float("nan") + return { + "instant_success_rate": is_success.float().mean().item(), + "pos_error_m": pos_error.mean().item(), + "keypoint_dist_m": keypoint_dist.mean().item(), + "episode_success_rate": episode_rate, + "num_episodes": self.num_episodes, + } + + @staticmethod + def format(info: dict | None) -> str: + """Format the stats dict as a compact one-line string (empty if unsupported).""" + if info is None: + return "" + ep = info["episode_success_rate"] + ep_str = f"{ep:.3f}" if ep == ep else "n/a" # NaN check + return ( + f"[success] instant={info['instant_success_rate']:.3f} | " + f"episode={ep_str} (n={info['num_episodes']}) | " + f"pos_err={info['pos_error_m'] * 1000:.2f}mm | " + f"kp_dist={info['keypoint_dist_m'] * 1000:.2f}mm" + ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py index e4bebea87c7d..38e1ae231f35 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py @@ -7,13 +7,18 @@ from . import agents +# Env class that logs task-success metrics during training (see insertion_env.py). +_INSERTION_ENV_ENTRY = ( + "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.insertion_env:DisplayportInsertionEnv" +) + ## # Register Gym environments. ## gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionEnvCfg", @@ -23,7 +28,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-Play-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionEnvCfg_PLAY", @@ -33,7 +38,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelEnvCfg", @@ -43,7 +48,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelEnvCfg_PLAY", @@ -53,7 +58,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": ( @@ -65,7 +70,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceDisplayportInsertionEnvCfg", @@ -75,7 +80,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-Play-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceDisplayportInsertionEnvCfg_PLAY", @@ -85,7 +90,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:Rizon4sGravDisplayportInsertionROSInferenceEnvCfg", @@ -95,7 +100,7 @@ gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-ROS-Inference-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", + entry_point=_INSERTION_ENV_ENTRY, disable_env_checker=True, kwargs={ "env_cfg_entry_point": ( diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py index 709e4dc04bcb..9bf0012c6fcf 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -325,6 +325,8 @@ class RewardsCfg: action_rate = RewTerm(func=mdp.action_rate_l2, weight=-5.0e-06) + # action_l2 = RewTerm(func=mdp.action_l2, weight=-5.0e-06) + @configclass class TerminationsCfg: @@ -343,6 +345,22 @@ class DisplayportInsertionEnvCfg(ManagerBasedRLEnvCfg): rewards: RewardsCfg = RewardsCfg() terminations: TerminationsCfg = TerminationsCfg() events: EventCfg = EventCfg() + + # ------------------------------------------------------------------ + # Task-success logging (consumed by ``insertion_env.DisplayportInsertionEnv``). + # ------------------------------------------------------------------ + # Success = plug mate point within ``success_pos_threshold`` (m) of the socket + # mate point, measured from the same keypoint frames as the reward. Purely for + # logging; does not affect observations/actions/rewards/terminations. + log_success_metrics: bool = True + success_socket_asset: str = "dp_socket" + success_plug_asset: str = "dp_plug" + success_pos_threshold: float = 0.003 + success_keypoint_scale: float = 0.15 + # Set from the asset-geometry constants in ``__post_init__``. + success_socket_offset: list = MISSING + success_plug_offset: list = MISSING + success_plug_goal_rot_inv: list = MISSING sim: SimulationCfg = SimulationCfg( physics_material=sim_utils.RigidBodyMaterialCfg( friction_combine_mode="multiply", @@ -369,3 +387,8 @@ def __post_init__(self): self.decimation = 8 self.sim.render_interval = self.decimation self.sim.dt = 1.0 / 240.0 + + # Success mate-point geometry mirrors the keypoint-tracking reward. + self.success_socket_offset = list(SOCKET_INSERTION_OFFSET) + self.success_plug_offset = list(PLUG_INSERTION_OFFSET) + self.success_plug_goal_rot_inv = list(PLUG_GOAL_ROT_INV) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/insertion_env.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/insertion_env.py new file mode 100644 index 000000000000..9cdadbb2aa23 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/insertion_env.py @@ -0,0 +1,164 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Manager-based insertion env with task-success detection and logging. + +This is a thin :class:`~isaaclab.envs.ManagerBasedRLEnv` subclass that adds a +GB300-style success metric (does the held plug sit at the socket's mated pose?) +and logs the success rate to ``extras["log"]`` so RSL-RL surfaces it in +TensorBoard / Weights & Biases during training. It does **not** change the +observation, action, reward, or termination logic, so training dynamics are +identical to the stock ``ManagerBasedRLEnv``. + +Success is measured from the same keypoint frames the keypoint-tracking reward +uses: the socket's mate reference point (root + ``socket_offset``) and the +plug's mate reference point (root + ``plug_offset`` with the goal rotation +offset applied). At the verified seated pose these frames coincide, so a small +mate-point distance means the plug is inserted. We deliberately reuse the exact +``combine_frame_transforms`` call pattern and the same offset constants as the +reward term to stay agnostic to the (x, y, z, w) quaternion convention of the +Newton/warp backend. +""" + +from __future__ import annotations + +import torch + +import warp as wp + +from isaaclab.envs import ManagerBasedRLEnv +from isaaclab.utils.math import combine_frame_transforms + + +def _keypoint_offsets_6d(device: torch.device) -> torch.Tensor: + """Return the 7 unit keypoint offsets (center + ±x/±y/±z) used by the reward. + + Mirrors ``deploy.mdp.rewards._get_keypoint_offsets_full_6d(add_cube_center_kp=True)`` + so the logged keypoint distance matches the training reward's keypoint distance. + """ + corners = torch.tensor([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]], device=device, dtype=torch.float32) + return torch.cat((corners, -corners[-3:]), dim=0) # (7, 3) + + +class DisplayportInsertionEnv(ManagerBasedRLEnv): + """``ManagerBasedRLEnv`` that additionally computes and logs a task-success rate. + + The following scalars are added to ``extras["log"]`` (RSL-RL logs them): + + - ``Metrics/success_rate``: instantaneous fraction of envs whose plug mate + point is within ``success_pos_threshold`` of the socket mate point (logged + every step). + - ``Metrics/plug_socket_pos_error_m``: mean mate-point distance (m). + - ``Metrics/plug_socket_keypoint_dist_m``: mean keypoint distance (m), the + same quantity the keypoint reward minimizes. + - ``Metrics/terminal_success_rate``: success fraction evaluated on envs at the + instant they reset (episode-end success), logged on reset steps. + + All parameters are read from the env cfg (see ``DisplayportInsertionEnvCfg``) + with safe fallbacks, so this class also works with cfgs that do not define + the success fields. + """ + + def __init__(self, cfg, render_mode: str | None = None, **kwargs): + super().__init__(cfg, render_mode=render_mode, **kwargs) + + # Read (optional) success-logging config with safe defaults. These are set + # after ``super().__init__`` so the ``_reset_idx`` override that runs during + # construction skips logging (guarded via ``getattr``). + self._log_success_metrics: bool = bool(getattr(cfg, "log_success_metrics", True)) + self._success_socket_asset: str = getattr(cfg, "success_socket_asset", "dp_socket") + self._success_plug_asset: str = getattr(cfg, "success_plug_asset", "dp_plug") + self._success_pos_threshold: float = float(getattr(cfg, "success_pos_threshold", 0.003)) + self._success_keypoint_scale: float = float(getattr(cfg, "success_keypoint_scale", 0.15)) + + device = self.device + self._success_socket_offset = torch.tensor( + getattr(cfg, "success_socket_offset", [0.0, 0.0, 0.0]), device=device, dtype=torch.float32 + ) + self._success_plug_offset = torch.tensor( + getattr(cfg, "success_plug_offset", [0.0, 0.0, 0.0]), device=device, dtype=torch.float32 + ) + self._success_plug_goal_rot_inv = torch.tensor( + getattr(cfg, "success_plug_goal_rot_inv", [0.0, 0.0, 0.0, 1.0]), device=device, dtype=torch.float32 + ) + + # Pre-allocated constants for the keypoint computation. + self._success_identity_quat = torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=device, dtype=torch.float32).repeat( + self.num_envs, 1 + ) + self._success_kp_offsets = _keypoint_offsets_6d(device) * self._success_keypoint_scale # (7, 3) + + def _compute_success(self) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: + """Compute per-env success mask, mate-point distance, and keypoint distance. + + Returns: + Tuple ``(is_success, pos_error, keypoint_dist)`` each of shape ``(num_envs,)``. + """ + socket = self.scene[self._success_socket_asset] + plug = self.scene[self._success_plug_asset] + + socket_pos = wp.to_torch(socket.data.root_pos_w) + socket_quat = wp.to_torch(socket.data.root_quat_w) + plug_pos = wp.to_torch(plug.data.root_pos_w) + plug_quat = wp.to_torch(plug.data.root_quat_w) + + n = self.num_envs + socket_off = self._success_socket_offset.unsqueeze(0).expand(n, -1) + plug_off = self._success_plug_offset.unsqueeze(0).expand(n, -1) + plug_goal_rot_inv = self._success_plug_goal_rot_inv.unsqueeze(0).expand(n, -1) + + # Mate reference frames (identical construction to keypoint_two_body_error). + kp_pos_s, kp_quat_s = combine_frame_transforms(socket_pos, socket_quat, socket_off, self._success_identity_quat) + kp_pos_p, kp_quat_p = combine_frame_transforms(plug_pos, plug_quat, plug_off, plug_goal_rot_inv) + + pos_error = torch.linalg.norm(kp_pos_p - kp_pos_s, dim=-1) + + # Mean keypoint distance over the 7 spread keypoints (captures orientation too). + k = self._success_kp_offsets.shape[0] + offs_flat = self._success_kp_offsets.unsqueeze(0).expand(n, -1, -1).reshape(-1, 3) + ident_flat = self._success_identity_quat.unsqueeze(1).expand(-1, k, -1).reshape(-1, 4) + + kp_s = combine_frame_transforms( + kp_pos_s.unsqueeze(1).expand(-1, k, -1).reshape(-1, 3), + kp_quat_s.unsqueeze(1).expand(-1, k, -1).reshape(-1, 4), + offs_flat, + ident_flat, + )[0].reshape(n, k, 3) + kp_p = combine_frame_transforms( + kp_pos_p.unsqueeze(1).expand(-1, k, -1).reshape(-1, 3), + kp_quat_p.unsqueeze(1).expand(-1, k, -1).reshape(-1, 4), + offs_flat, + ident_flat, + )[0].reshape(n, k, 3) + keypoint_dist = torch.linalg.norm(kp_p - kp_s, dim=-1).mean(dim=-1) + + is_success = pos_error < self._success_pos_threshold + return is_success, pos_error, keypoint_dist + + def step(self, action: torch.Tensor): + obs_buf, reward_buf, terminated, time_outs, extras = super().step(action) + if getattr(self, "_log_success_metrics", False): + is_success, pos_error, keypoint_dist = self._compute_success() + log = self.extras.setdefault("log", {}) + log["Metrics/success_rate"] = is_success.float().mean() + log["Metrics/plug_socket_pos_error_m"] = pos_error.mean() + log["Metrics/plug_socket_keypoint_dist_m"] = keypoint_dist.mean() + return obs_buf, reward_buf, terminated, time_outs, self.extras + + def _reset_idx(self, env_ids): + # Evaluate success on the pre-reset state of the resetting envs so we get a + # clean per-episode ("terminal") success rate. Guarded with getattr because + # the parent constructor calls _reset_idx before our attributes are set. + terminal_success = None + if getattr(self, "_log_success_metrics", False): + is_success, _, _ = self._compute_success() + terminal_success = is_success[env_ids].float().mean() + + super()._reset_idx(env_ids) + + # super()._reset_idx() reset extras["log"] and repopulated it with the + # Episode_* stats; append our terminal metric so it survives to step()'s return. + if terminal_success is not None: + self.extras["log"]["Metrics/terminal_success_rate"] = terminal_success From 915da0c0101c67b737b818c375247b855feeaad0 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 17:17:17 -0700 Subject: [PATCH 44/65] Fixed taskspace movement issue. --- .../config/displayport_rizon_4s/task_space_env_cfg.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 4aeeae5bfedf..649f3cb40e78 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -421,6 +421,16 @@ def __post_init__(self): ), ) + # OSC requires the arm joints to be pure torque-controlled. The stock + # Flexiv cfg gives the arm a stiff implicit position PD (stiffness + # 1320/600/216); left enabled it holds every joint at its reset target + # and completely overrides the OSC-computed joint efforts, so the arm + # never moves. Zero the arm PD gains (damping is provided by the OSC via + # ``motion_damping_ratio_task``). Mirrors scripts/tutorials/05_controllers/run_osc.py. + for _arm_actuator in ("shoulder", "elbow", "wrist"): + self.scene.robot.actuators[_arm_actuator].stiffness = 0.0 + self.scene.robot.actuators[_arm_actuator].damping = 0.0 + # Grav gripper actuator configuration self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( joint_names_expr=["finger_joint"], From 3e1720e53d48e22fb640cf03c295867b7edaee6c Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 17:19:39 -0700 Subject: [PATCH 45/65] Removed socket rot rand from taskspace. --- .../displayport_rizon_4s/task_space_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 649f3cb40e78..384107752148 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -206,12 +206,12 @@ class TaskSpaceEventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0.0, 0.0], - # "pitch": [0.0, 0.0], - # "yaw": [0.0, 0.0], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0.0, 0.0], + "pitch": [0.0, 0.0], + "yaw": [0.0, 0.0], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 066e6045b0d4254f2103a4a1f8037ac6ebd069a7 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 17:21:24 -0700 Subject: [PATCH 46/65] Disabled curriculum training. --- .../config/displayport_rizon_4s/task_space_env_cfg.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index 384107752148..db6a26bf8672 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -255,8 +255,8 @@ class TaskSpaceEventCfg: params={ "plug_cfg": SceneEntityCfg("dp_plug"), "socket_cfg": SceneEntityCfg("dp_socket"), - "at_goal_prob": 0.8, - "at_goal_prob_final": 0.2, + "at_goal_prob": 0.0, + "at_goal_prob_final": 0.0, "anneal_start_iter": 0.0, "anneal_end_iter": 1000.0, "num_steps_per_env": 512, From 79a15ebc774525d0140183d532c7f8d3b9f2c7a6 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 18:16:26 -0700 Subject: [PATCH 47/65] Sysid based changes. --- .../contrib/deploy/mdp/__init__.pyi | 16 + .../deploy/mdp/delayed_joint_actions.py | 293 ++++++++++++++++++ .../deploy/mdp/delayed_joint_actions_cfg.py | 76 +++++ .../displayport_rizon_4s/joint_pos_env_cfg.py | 90 +++++- 4 files changed, 469 insertions(+), 6 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi index c564d4b96af2..71ebe763b6e7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi @@ -32,8 +32,24 @@ __all__ = [ "reset_when_gear_orientation_exceeds_threshold", "reset_when_plug_dropped", "reset_when_plug_orientation_exceeded", + "DelayedRelativeJointPositionAction", + "DelayedRelativeJointPositionActionCfg", + "ShapedDelayedRelativeJointPositionAction", + "ShapedDelayedRelativeJointPositionActionCfg", + "FlexivDynamicsAwareRelativeJointPositionAction", + "FlexivDynamicsAwareRelativeJointPositionActionCfg", ] +from .delayed_joint_actions import ( + DelayedRelativeJointPositionAction, + ShapedDelayedRelativeJointPositionAction, + FlexivDynamicsAwareRelativeJointPositionAction, +) +from .delayed_joint_actions_cfg import ( + DelayedRelativeJointPositionActionCfg, + ShapedDelayedRelativeJointPositionActionCfg, + FlexivDynamicsAwareRelativeJointPositionActionCfg, +) from .events import ( randomize_gear_type, randomize_gears_and_base_pose, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py new file mode 100644 index 000000000000..cddc0e589beb --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py @@ -0,0 +1,293 @@ +# Copyright (c) 2025-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +from collections.abc import Sequence +import re +from typing import TYPE_CHECKING + +import torch + +from isaaclab.envs.mdp.actions.joint_actions import RelativeJointPositionAction + +from isaaclab_tasks.contrib.deploy.mdp.delayed_joint_actions_cfg import ( + DelayedRelativeJointPositionActionCfg, + FlexivDynamicsAwareRelativeJointPositionActionCfg, + ShapedDelayedRelativeJointPositionActionCfg, +) + +if TYPE_CHECKING: + from isaaclab.envs import ManagerBasedEnv + + +class DelayedRelativeJointPositionAction(RelativeJointPositionAction): + """Relative joint-position action that applies a delayed absolute joint target.""" + + cfg: DelayedRelativeJointPositionActionCfg + + def __init__(self, cfg: DelayedRelativeJointPositionActionCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + if self.cfg.latency_s < 0.0: + raise ValueError("latency_s must be non-negative") + if self.cfg.latency_steps is not None and self.cfg.latency_steps < 0: + raise ValueError("latency_steps must be non-negative") + + # PhysX calls apply_actions() once per physics step. Newton graph mode may + # fold decimation internally, in which case apply_actions() runs once per env step. + apply_dt = env.step_dt if getattr(env, "_physics_handles_decimation", False) else env.physics_dt + if self.cfg.latency_steps is None: + self._delay_steps = 0 if self.cfg.latency_s == 0.0 else max(1, round(self.cfg.latency_s / apply_dt)) + else: + self._delay_steps = int(self.cfg.latency_steps) + self._effective_latency_s = self._delay_steps * apply_dt + + current_target = self._asset.data.joint_pos.torch[:, self._joint_ids].clone() + self._latest_target = current_target.clone() + self._delayed_target = current_target.clone() + self._target_buffer = None + if self._delay_steps > 0: + self._target_buffer = current_target.unsqueeze(0).repeat(self._delay_steps, 1, 1) + + def process_actions(self, actions: torch.Tensor): + super().process_actions(actions) + current_joint_pos = self._asset.data.joint_pos.torch[:, self._joint_ids] + self._latest_target = current_joint_pos + self.processed_actions + + def apply_actions(self): + if self._delay_steps > 0: + self._delayed_target = self._target_buffer[0].clone() + if self._delay_steps > 1: + self._target_buffer[:-1] = self._target_buffer[1:].clone() + self._target_buffer[-1] = self._latest_target + else: + self._delayed_target = self._latest_target + + self._asset.set_joint_position_target_index(target=self._delayed_target, joint_ids=self._joint_ids) + + def reset(self, env_ids: Sequence[int] | None = None) -> None: + super().reset(env_ids) + reset_ids = slice(None) if env_ids is None else env_ids + current_target = self._asset.data.joint_pos.torch[:, self._joint_ids] + self._latest_target[reset_ids] = current_target[reset_ids] + self._delayed_target[reset_ids] = current_target[reset_ids] + if self._target_buffer is not None: + selected_target = current_target[reset_ids] + if selected_target.ndim == 1: + selected_target = selected_target.unsqueeze(0) + reset_target = selected_target.unsqueeze(0).repeat(self._delay_steps, 1, 1) + self._target_buffer[:, reset_ids, :] = reset_target + + +class ShapedDelayedRelativeJointPositionAction(DelayedRelativeJointPositionAction): + """Delayed relative joint-position action with command-side velocity and acceleration limits.""" + + cfg: ShapedDelayedRelativeJointPositionActionCfg + + def __init__(self, cfg: ShapedDelayedRelativeJointPositionActionCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + if self.cfg.command_velocity_limit < 0.0: + raise ValueError("command_velocity_limit must be non-negative") + if self.cfg.command_acceleration_limit < 0.0: + raise ValueError("command_acceleration_limit must be non-negative") + + # Command shaping models the external robot command loop, so it advances + # once per env/control step. PhysX still receives the latest shaped target + # on every physics substep through apply_actions(). + control_dt = env.step_dt + if self.cfg.latency_steps is None: + self._delay_steps = 0 if self.cfg.latency_s == 0.0 else max(1, round(self.cfg.latency_s / control_dt)) + else: + self._delay_steps = int(self.cfg.latency_steps) + self._effective_latency_s = self._delay_steps * control_dt + + current_target = self._asset.data.joint_pos.torch[:, self._joint_ids].clone() + self._latest_target = current_target.clone() + self._delayed_target = current_target.clone() + self._target_buffer = None + if self._delay_steps > 0: + self._target_buffer = current_target.unsqueeze(0).repeat(self._delay_steps, 1, 1) + + self._shape_dt = control_dt + self._shaped_target = self._delayed_target.clone() + self._shaped_velocity = torch.zeros_like(self._shaped_target) + + def process_actions(self, actions: torch.Tensor): + RelativeJointPositionAction.process_actions(self, actions) + current_joint_pos = self._asset.data.joint_pos.torch[:, self._joint_ids] + self._latest_target = current_joint_pos + self.processed_actions + + if self._delay_steps > 0: + delayed_target = self._target_buffer[0].clone() + if self._delay_steps > 1: + self._target_buffer[:-1] = self._target_buffer[1:].clone() + self._target_buffer[-1] = self._latest_target + else: + delayed_target = self._latest_target + + self._delayed_target = delayed_target + self._shaped_target, self._shaped_velocity = self._shape_position_target( + delayed_target, + self._shaped_target, + self._shaped_velocity, + ) + + def apply_actions(self): + self._asset.set_joint_position_target_index(target=self._shaped_target, joint_ids=self._joint_ids) + + def reset(self, env_ids: Sequence[int] | None = None) -> None: + super().reset(env_ids) + reset_ids = slice(None) if env_ids is None else env_ids + current_target = self._asset.data.joint_pos.torch[:, self._joint_ids] + self._shaped_target[reset_ids] = current_target[reset_ids] + self._shaped_velocity[reset_ids] = 0.0 + + def _shape_position_target( + self, + desired_target: torch.Tensor, + shaped_target: torch.Tensor, + shaped_velocity: torch.Tensor, + ) -> tuple[torch.Tensor, torch.Tensor]: + if self.cfg.command_velocity_limit == 0.0 and self.cfg.command_acceleration_limit == 0.0: + return desired_target, shaped_velocity + + target_velocity = (desired_target - shaped_target) / self._shape_dt + if self.cfg.command_velocity_limit > 0.0: + target_velocity = torch.clamp( + target_velocity, + min=-self.cfg.command_velocity_limit, + max=self.cfg.command_velocity_limit, + ) + + if self.cfg.command_acceleration_limit > 0.0: + max_delta_velocity = self.cfg.command_acceleration_limit * self._shape_dt + target_velocity = shaped_velocity + torch.clamp( + target_velocity - shaped_velocity, + min=-max_delta_velocity, + max=max_delta_velocity, + ) + + next_target = shaped_target + target_velocity * self._shape_dt + crossed = ((desired_target - shaped_target) * (desired_target - next_target)) < 0.0 + if crossed.any(): + next_target = torch.where(crossed, desired_target, next_target) + target_velocity = torch.where(crossed, torch.zeros_like(target_velocity), target_velocity) + + return next_target, target_velocity + + +class FlexivDynamicsAwareRelativeJointPositionAction(DelayedRelativeJointPositionAction): + """Flexiv-style relative joint-position controller with latency and dynamics-aware damping. + + Flexiv's robot-side impedance API accepts joint stiffness and damping ratios. + This action term approximates that behavior by using the simulator's implicit + joint drives, writing the configured stiffness directly, and updating damping + at every action application as: + + .. math:: + D_i(q) = s \\cdot 2 \\zeta_i \\sqrt{K_i M_{ii}(q)} + + where ``M_ii(q)`` is the current diagonal entry of the articulated mass + matrix for joint ``i``. This is intentionally a controller/action term, not + a plotting transform, so replay and policy rollout see the same command path. + """ + + cfg: FlexivDynamicsAwareRelativeJointPositionActionCfg + + def __init__(self, cfg: FlexivDynamicsAwareRelativeJointPositionActionCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + if self.cfg.mass_matrix_mode != "diagonal": + raise ValueError("Only mass_matrix_mode='diagonal' is currently supported.") + if self.cfg.damping_scale <= 0.0: + raise ValueError("damping_scale must be positive.") + if self.cfg.min_effective_inertia <= 0.0: + raise ValueError("min_effective_inertia must be positive.") + if self.cfg.max_damping is not None and self.cfg.max_damping <= 0.0: + raise ValueError("max_damping must be positive when provided.") + + if isinstance(self._joint_ids, slice): + self._joint_ids_tensor = torch.arange(self._asset.num_joints, device=self.device, dtype=torch.long) + else: + self._joint_ids_tensor = torch.tensor(self._joint_ids, device=self.device, dtype=torch.long) + + self._kp = self._resolve_joint_parameter(self.cfg.stiffness, "stiffness") + self._zeta = self._resolve_joint_parameter(self.cfg.damping_ratio, "damping_ratio") + self._min_effective_inertia = torch.full_like(self._kp, float(self.cfg.min_effective_inertia)) + self._have_written_stiffness = False + self._latest_damping = torch.zeros(self.num_envs, self.action_dim, device=self.device, dtype=self._kp.dtype) + + def apply_actions(self): + self._write_stiffness_if_needed() + self._update_dynamics_aware_damping() + super().apply_actions() + + def reset(self, env_ids: Sequence[int] | None = None) -> None: + super().reset(env_ids) + if self.cfg.rewrite_stiffness_on_reset: + self._have_written_stiffness = False + + def _resolve_joint_parameter(self, value: float | dict[str, float], field_name: str) -> torch.Tensor: + if isinstance(value, (float, int)): + values = [float(value)] * self.action_dim + elif isinstance(value, dict): + values = [] + for joint_name in self._joint_names: + matches = [] + if joint_name in value: + matches.append(float(value[joint_name])) + for pattern, pattern_value in value.items(): + if pattern == joint_name: + continue + if re.fullmatch(pattern, joint_name): + matches.append(float(pattern_value)) + if not matches: + raise ValueError(f"Missing {field_name} value for joint '{joint_name}'.") + values.append(matches[-1]) + else: + raise TypeError(f"{field_name} must be a float or dict[str, float].") + + return torch.tensor(values, device=self.device, dtype=torch.float32).unsqueeze(0).repeat(self.num_envs, 1) + + def _write_stiffness_if_needed(self) -> None: + if self._have_written_stiffness and not self.cfg.rewrite_stiffness_each_step: + return + + self._asset.write_joint_stiffness_to_sim_index( + stiffness=self._kp, + joint_ids=self._joint_ids_tensor, + ) + self._have_written_stiffness = True + + def _mass_matrix_tensor(self) -> torch.Tensor: + data = self._asset.data + if not hasattr(data, "mass_matrix"): + raise RuntimeError( + "FlexivDynamicsAwareRelativeJointPositionAction requires asset.data.mass_matrix. " + "Use the Newton backend or another backend that exposes articulated mass matrices." + ) + + mass_matrix = data.mass_matrix + if hasattr(mass_matrix, "torch"): + return mass_matrix.torch + if isinstance(mass_matrix, torch.Tensor): + return mass_matrix + return torch.as_tensor(mass_matrix, device=self.device) + + def _update_dynamics_aware_damping(self) -> None: + mass_matrix = self._mass_matrix_tensor() + effective_inertia = mass_matrix[:, self._joint_ids_tensor, self._joint_ids_tensor] + effective_inertia = torch.maximum(effective_inertia, self._min_effective_inertia) + damping = self.cfg.damping_scale * 2.0 * self._zeta * torch.sqrt(self._kp * effective_inertia) + if self.cfg.max_damping is not None: + damping = torch.clamp(damping, max=float(self.cfg.max_damping)) + + self._latest_damping = damping + self._asset.write_joint_damping_to_sim_index( + damping=damping, + joint_ids=self._joint_ids_tensor, + ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py new file mode 100644 index 000000000000..841471a4ff82 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py @@ -0,0 +1,76 @@ +# Copyright (c) 2025-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +from isaaclab.envs.mdp.actions.actions_cfg import RelativeJointPositionActionCfg +from isaaclab.utils.configclass import configclass + +_ACTIONS_MODULE = "isaaclab_tasks.contrib.deploy.mdp.delayed_joint_actions" + + +@configclass +class DelayedRelativeJointPositionActionCfg(RelativeJointPositionActionCfg): + """Configuration for delayed relative joint-position actions.""" + + class_type: type | str = f"{_ACTIONS_MODULE}:DelayedRelativeJointPositionAction" + + latency_s: float = 0.02 + """Command latency in seconds. Defaults to one 50 Hz collection sample, 20 ms.""" + + latency_steps: int | None = None + """Optional explicit delay in action-application steps. Overrides latency_s when set.""" + + +@configclass +class ShapedDelayedRelativeJointPositionActionCfg(DelayedRelativeJointPositionActionCfg): + """Configuration for delayed relative joint-position actions with command shaping.""" + + class_type: type | str = f"{_ACTIONS_MODULE}:ShapedDelayedRelativeJointPositionAction" + + command_velocity_limit: float = 0.2 + """Maximum command-target slew velocity in rad/s. Set to zero to disable.""" + + command_acceleration_limit: float = 0.5 + """Maximum command-target slew acceleration in rad/s^2. Set to zero to disable.""" + + +@configclass +class FlexivDynamicsAwareRelativeJointPositionActionCfg(DelayedRelativeJointPositionActionCfg): + """Configuration for Flexiv-style dynamics-aware relative joint-position control.""" + + class_type: type | str = f"{_ACTIONS_MODULE}:FlexivDynamicsAwareRelativeJointPositionAction" + + stiffness: float | dict[str, float] = { + "joint1": 6000.0, + "joint2": 6000.0, + "joint3": 4200.0, + "joint4": 4200.0, + "joint5": 1500.0, + "joint6": 1500.0, + "joint7": 1500.0, + } + """Joint stiffness in Nm/rad, matching Flexiv's SetJointImpedance stiffness argument.""" + + damping_ratio: float | dict[str, float] = 0.7 + """Joint damping ratio, matching Flexiv's SetJointImpedance damping-ratio argument.""" + + damping_scale: float = 1.0 + """Multiplier applied after converting stiffness and damping ratio to joint damping.""" + + min_effective_inertia: float = 1.0e-6 + """Lower bound for mass-matrix diagonal entries used in the damping calculation.""" + + max_damping: float | None = None + """Optional upper clamp for the computed damping in Nms/rad.""" + + mass_matrix_mode: str = "diagonal" + """Mass-matrix reduction mode. Only ``diagonal`` is currently supported.""" + + rewrite_stiffness_each_step: bool = False + """Whether to write stiffness on every action application instead of once.""" + + rewrite_stiffness_on_reset: bool = True + """Whether to rewrite stiffness after reset in case reset events changed drive parameters.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 59351543df64..d59ced66226f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -50,6 +50,55 @@ _GEOMETRY_POS, _SOCKET_ROT, z_clearance=_PLUG_CLEARANCE_Z, ) +# --------------------------------------------------------------------------- +# Sim-to-real action model toggle (ported from IsaacLab_ashwin gear-assembly +# ``sysid_physx_env_cfg.py``) +# --------------------------------------------------------------------------- +# Master switch. Flip to ``True`` to enable the sim-to-real action pipeline: +# 1. Action latency -> ``ShapedDelayedRelativeJointPositionActionCfg`` delays +# the applied joint target by ``USE_SIM2REAL_ACTION_LATENCY_S`` seconds, +# approximating the real robot's command loop lag. +# 2. Command shaping -> per-step velocity / acceleration clamping of the arm +# joint targets (matches the collection-time command limits). +# 3. SysID PD gains -> replaces the stock arm PD (1320/600/216) with the +# PhysX SysID-tuned per-joint stiffness/damping for the Flexiv Rizon 4S. +# +# Leave ``False`` to keep the current behavior exactly (plain +# ``RelativeJointPositionActionCfg`` + stock actuator PD gains). This single +# flag is the only thing you need to change to revert. +USE_SIM2REAL_ACTION_MODEL = True + +# Command latency in seconds. 20 ms = one 50 Hz collection sample in ashwin. +# NOTE: this env runs ~30 Hz control (decimation 8 @ 240 Hz), so the delay +# rounds to a minimum of one control step (~33 ms) unless you raise the value. +USE_SIM2REAL_ACTION_LATENCY_S = 0.02 +# Command-target slew limits applied to the arm (rad/s and rad/s^2). Zero +# disables the respective limit. Deployment values from ashwin gear assembly. +USE_SIM2REAL_COMMAND_VELOCITY_LIMIT = 2.0 +USE_SIM2REAL_COMMAND_ACCELERATION_LIMIT = 3.0 + +# PhysX SysID-tuned per-joint PD gains for the Flexiv Rizon 4S arm. Values from +# IsaacLab_ashwin ``input/actuator_models/flexiv/manual/ +# flexiv_pd_only_gravityoff_high_cmdlimits_tuned_physx.yaml``. +_SIM2REAL_ARM_STIFFNESS = { + "joint1": 6051.500977, + "joint2": 3004.328857, + "joint3": 7032.64209, + "joint4": 4346.786133, + "joint5": 6829.847656, + "joint6": 3769.23291, + "joint7": 6181.429199, +} +_SIM2REAL_ARM_DAMPING = { + "joint1": 121.620995, + "joint2": 220.929214, + "joint3": 162.582214, + "joint4": 186.334442, + "joint5": 199.962311, + "joint6": 118.462029, + "joint7": 152.861771, +} + ## # Pre-defined configs ## @@ -289,12 +338,25 @@ def __post_init__(self): ) self.joint_action_scale = 0.025 - self.actions.arm_action = mdp.RelativeJointPositionActionCfg( - asset_name="robot", - joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"], - scale=self.joint_action_scale, - use_zero_offset=True, - ) + _arm_joint_names = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + if USE_SIM2REAL_ACTION_MODEL: + # Delayed + velocity/acceleration-shaped relative joint action. + self.actions.arm_action = mdp.ShapedDelayedRelativeJointPositionActionCfg( + asset_name="robot", + joint_names=_arm_joint_names, + scale=self.joint_action_scale, + use_zero_offset=True, + latency_s=USE_SIM2REAL_ACTION_LATENCY_S, + command_velocity_limit=USE_SIM2REAL_COMMAND_VELOCITY_LIMIT, + command_acceleration_limit=USE_SIM2REAL_COMMAND_ACCELERATION_LIMIT, + ) + else: + self.actions.arm_action = mdp.RelativeJointPositionActionCfg( + asset_name="robot", + joint_names=_arm_joint_names, + scale=self.joint_action_scale, + use_zero_offset=True, + ) self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( prim_path="{ENV_REGEX_NS}/Robot", @@ -350,6 +412,22 @@ def __post_init__(self): damping=0.0, ) + if USE_SIM2REAL_ACTION_MODEL: + # Replace the stock arm PD (shoulder 1320 / elbow 600 / wrist 216) + # with the PhysX SysID-tuned per-joint gains. Values are keyed by + # joint name so each implicit actuator group picks up its own gains. + for _group, _joints in ( + ("shoulder", ("joint1", "joint2")), + ("elbow", ("joint3", "joint4")), + ("wrist", ("joint5", "joint6", "joint7")), + ): + self.scene.robot.actuators[_group].stiffness = { + _j: _SIM2REAL_ARM_STIFFNESS[_j] for _j in _joints + } + self.scene.robot.actuators[_group].damping = { + _j: _SIM2REAL_ARM_DAMPING[_j] for _j in _joints + } + self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( pos=_SOCKET_ROOT, rot=_SOCKET_ROT, From d3e7b2c81633ef9ec8c43899340ca9c6553aad3f Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Wed, 1 Jul 2026 18:20:46 -0700 Subject: [PATCH 48/65] Adding socket rot randomization in joint space env. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index d59ced66226f..0ea4faac4fd8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -205,12 +205,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0., 0.], - "pitch": [0., 0.], - "yaw": [0., 0.], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0., 0.], + # "pitch": [0., 0.], + # "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 758354497e40fd8537462016f60202928f5e30f8 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 2 Jul 2026 10:06:37 -0700 Subject: [PATCH 49/65] Fixed sysid integration issues. --- .../deploy/mdp/delayed_joint_actions.py | 15 ++++---- .../displayport_rizon_4s/joint_pos_env_cfg.py | 34 ++++++++++++++----- 2 files changed, 34 insertions(+), 15 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py index cddc0e589beb..3821f31b7f8a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py @@ -10,6 +10,7 @@ from typing import TYPE_CHECKING import torch +import warp as wp from isaaclab.envs.mdp.actions.joint_actions import RelativeJointPositionAction @@ -45,7 +46,7 @@ def __init__(self, cfg: DelayedRelativeJointPositionActionCfg, env: ManagerBased self._delay_steps = int(self.cfg.latency_steps) self._effective_latency_s = self._delay_steps * apply_dt - current_target = self._asset.data.joint_pos.torch[:, self._joint_ids].clone() + current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids].clone() self._latest_target = current_target.clone() self._delayed_target = current_target.clone() self._target_buffer = None @@ -54,7 +55,7 @@ def __init__(self, cfg: DelayedRelativeJointPositionActionCfg, env: ManagerBased def process_actions(self, actions: torch.Tensor): super().process_actions(actions) - current_joint_pos = self._asset.data.joint_pos.torch[:, self._joint_ids] + current_joint_pos = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] self._latest_target = current_joint_pos + self.processed_actions def apply_actions(self): @@ -71,7 +72,7 @@ def apply_actions(self): def reset(self, env_ids: Sequence[int] | None = None) -> None: super().reset(env_ids) reset_ids = slice(None) if env_ids is None else env_ids - current_target = self._asset.data.joint_pos.torch[:, self._joint_ids] + current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] self._latest_target[reset_ids] = current_target[reset_ids] self._delayed_target[reset_ids] = current_target[reset_ids] if self._target_buffer is not None: @@ -105,7 +106,7 @@ def __init__(self, cfg: ShapedDelayedRelativeJointPositionActionCfg, env: Manage self._delay_steps = int(self.cfg.latency_steps) self._effective_latency_s = self._delay_steps * control_dt - current_target = self._asset.data.joint_pos.torch[:, self._joint_ids].clone() + current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids].clone() self._latest_target = current_target.clone() self._delayed_target = current_target.clone() self._target_buffer = None @@ -118,7 +119,7 @@ def __init__(self, cfg: ShapedDelayedRelativeJointPositionActionCfg, env: Manage def process_actions(self, actions: torch.Tensor): RelativeJointPositionAction.process_actions(self, actions) - current_joint_pos = self._asset.data.joint_pos.torch[:, self._joint_ids] + current_joint_pos = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] self._latest_target = current_joint_pos + self.processed_actions if self._delay_steps > 0: @@ -142,7 +143,7 @@ def apply_actions(self): def reset(self, env_ids: Sequence[int] | None = None) -> None: super().reset(env_ids) reset_ids = slice(None) if env_ids is None else env_ids - current_target = self._asset.data.joint_pos.torch[:, self._joint_ids] + current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] self._shaped_target[reset_ids] = current_target[reset_ids] self._shaped_velocity[reset_ids] = 0.0 @@ -272,6 +273,8 @@ def _mass_matrix_tensor(self) -> torch.Tensor: ) mass_matrix = data.mass_matrix + if isinstance(mass_matrix, wp.array): + return wp.to_torch(mass_matrix) if hasattr(mass_matrix, "torch"): return mass_matrix.torch if isinstance(mass_matrix, torch.Tensor): diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 0ea4faac4fd8..0cd43b03f4ec 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -54,23 +54,31 @@ # Sim-to-real action model toggle (ported from IsaacLab_ashwin gear-assembly # ``sysid_physx_env_cfg.py``) # --------------------------------------------------------------------------- -# Master switch. Flip to ``True`` to enable the sim-to-real action pipeline: -# 1. Action latency -> ``ShapedDelayedRelativeJointPositionActionCfg`` delays +# Master switch. Flip to ``True`` to enable the sim-to-real action pipeline +# (mirrors IsaacLab_ashwin ``Rizon4sGearAssemblyROSInferenceSysIDPhysXShapedEnvCfg``): +# 1. Sim rate -> 200 Hz PhysX physics with decimation 4 => 50 Hz control, +# matching the Flexiv deployment command loop. +# 2. Action latency -> ``ShapedDelayedRelativeJointPositionActionCfg`` delays # the applied joint target by ``USE_SIM2REAL_ACTION_LATENCY_S`` seconds, # approximating the real robot's command loop lag. -# 2. Command shaping -> per-step velocity / acceleration clamping of the arm +# 3. Command shaping -> per-step velocity / acceleration clamping of the arm # joint targets (matches the collection-time command limits). -# 3. SysID PD gains -> replaces the stock arm PD (1320/600/216) with the +# 4. SysID PD gains -> replaces the stock arm PD (1320/600/216) with the # PhysX SysID-tuned per-joint stiffness/damping for the Flexiv Rizon 4S. # # Leave ``False`` to keep the current behavior exactly (plain -# ``RelativeJointPositionActionCfg`` + stock actuator PD gains). This single -# flag is the only thing you need to change to revert. +# ``RelativeJointPositionActionCfg`` + stock actuator PD gains + 240 Hz / dec 8). +# This single flag is the only thing you need to change to revert. USE_SIM2REAL_ACTION_MODEL = True -# Command latency in seconds. 20 ms = one 50 Hz collection sample in ashwin. -# NOTE: this env runs ~30 Hz control (decimation 8 @ 240 Hz), so the delay -# rounds to a minimum of one control step (~33 ms) unless you raise the value. +# Sim rate for the sim-to-real deployment loop. 200 Hz PhysX physics with +# decimation 4 gives a 50 Hz effective control rate (== ashwin gear assembly). +# Uses PhysX implicit actuators (not Newton). At 50 Hz, a 20 ms latency maps to +# exactly one control step. +USE_SIM2REAL_PHYSICS_FREQ_HZ = 200.0 +USE_SIM2REAL_DECIMATION = 4 + +# Command latency in seconds. 20 ms = one 50 Hz control sample in ashwin. USE_SIM2REAL_ACTION_LATENCY_S = 0.02 # Command-target slew limits applied to the arm (rad/s and rad/s^2). Zero # disables the respective limit. Deployment values from ashwin gear assembly. @@ -288,6 +296,14 @@ class Rizon4sGravDisplayportInsertionEnvCfg(DisplayportInsertionEnvCfg): def __post_init__(self): super().__post_init__() + if USE_SIM2REAL_ACTION_MODEL: + # Deployment sim rate: 200 Hz PhysX physics, decimation 4 => 50 Hz + # control loop (overrides the base 240 Hz / decimation 8). At 50 Hz a + # 20 ms latency maps to exactly one control step. + self.decimation = USE_SIM2REAL_DECIMATION + self.sim.dt = 1.0 / USE_SIM2REAL_PHYSICS_FREQ_HZ + self.sim.render_interval = self.decimation + self.end_effector_body_name = "flange" self.num_arm_joints = 7 # CALIBRATE: flange position in the DisplayPort plug's local frame. From 2fe92e699a71eedb0248da1bff10ce937e3cff66 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 2 Jul 2026 10:10:35 -0700 Subject: [PATCH 50/65] Removed socket rot rand from jointspace. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 0cd43b03f4ec..c3c4b5572f8e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -213,12 +213,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0., 0.], - # "pitch": [0., 0.], - # "yaw": [0., 0.], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0., 0.], + "pitch": [0., 0.], + "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From ba2d75908882b3caa36e5ccd9810be273f222908 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 2 Jul 2026 10:25:20 -0700 Subject: [PATCH 51/65] Added curriculum support for joint space setup. --- .../displayport_rizon_4s/joint_pos_env_cfg.py | 68 ++++++++++++++++--- 1 file changed, 57 insertions(+), 11 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index c3c4b5572f8e..26f4f003b71d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -25,6 +25,9 @@ import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( + PLUG_GOAL_ROT, + PLUG_INSERTION_OFFSET, + SOCKET_INSERTION_OFFSET, DisplayportInsertionEnvCfg, compute_plug_pose, compute_socket_root, @@ -50,6 +53,11 @@ _GEOMETRY_POS, _SOCKET_ROT, z_clearance=_PLUG_CLEARANCE_Z, ) +# DisplayPort plug insertion length (blade engagement along the insertion axis) +# used by the at-goal curriculum. ~11 mm of blade nests in the socket cavity at +# the verified seated pose. Kept identical to the task-space env. +_INSERTION_LENGTH = 0.011 + # --------------------------------------------------------------------------- # Sim-to-real action model toggle (ported from IsaacLab_ashwin gear-assembly # ``sysid_physx_env_cfg.py``) @@ -225,23 +233,61 @@ class EventCfg: }, ) - randomize_plug_pose = EventTerm( - func=mdp.reset_root_state_uniform, + # Disabled: plain uniform plug randomization. Superseded by the at-goal + # curriculum below (re-enable this and comment out reset_plug_curriculum to + # revert to simple uniform plug randomization). + # randomize_plug_pose = EventTerm( + # func=mdp.reset_root_state_uniform, + # mode="reset", + # params={ + # "pose_range": { + # "x": [-0.02, 0.02], + # "y": [-0.02, 0.02], + # "z": [-0.01, 0.01], + # "roll": [0.0, 0.0], + # "pitch": [0.0, 0.0], + # "yaw": [0.0, 0.0], + # }, + # "velocity_range": {}, + # "asset_cfg": SceneEntityCfg("dp_plug"), + # }, + # ) + + # 80% at-goal curriculum (mirrors IsaacLab_UR gb300, osmo at_goal_prob=0.8). + # Identical to the task-space env: IsaacLab_UR applies this curriculum + # regardless of control space (it lives in the object reset, not the + # controller). A fraction `at_goal_prob` of envs spawn the plug already + # inserted at a random depth (0 -> insertion_length) with goal orientation; + # the rest get uniform approach-pose randomization via `normal_pose_range`. + # + # at_goal_prob is annealed linearly from `at_goal_prob` (start) down to + # `at_goal_prob_final` between iterations `anneal_start_iter` and + # `anneal_end_iter`. Iterations are derived from the env step counter via + # `num_steps_per_env` (must match the agent cfg). Set `at_goal_prob_final=None` + # to disable annealing (constant at_goal_prob). + reset_plug_curriculum = EventTerm( + func=mdp.reset_plug_at_goal_curriculum, mode="reset", params={ - "pose_range": { + "plug_cfg": SceneEntityCfg("dp_plug"), + "socket_cfg": SceneEntityCfg("dp_socket"), + "at_goal_prob": 0.8, + "at_goal_prob_final": 0.2, + "anneal_start_iter": 0.0, + "anneal_end_iter": 1000.0, + "num_steps_per_env": 512, + "insertion_axis": [1.0, 0.0, 0.0], + "insertion_length": _INSERTION_LENGTH, + "socket_insertion_offset": SOCKET_INSERTION_OFFSET, + "plug_insertion_offset": PLUG_INSERTION_OFFSET, + "goal_rot": list(PLUG_GOAL_ROT), + # Non-at-goal approach randomization. Matches gb300's + # held_asset_init_pos_range = [0.02, 0.02, 0.01] (x, y, z) [m]. + "normal_pose_range": { "x": [-0.02, 0.02], "y": [-0.02, 0.02], "z": [-0.01, 0.01], - # "x": [-0.0, 0.0], - # "y": [-0.0, 0.0], - # "z": [-0.0, 0.0], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], }, - "velocity_range": {}, - "asset_cfg": SceneEntityCfg("dp_plug"), }, ) From a4ce8cd14b06ab0c1b7f1d566d7fc8eedc692445 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 2 Jul 2026 10:27:04 -0700 Subject: [PATCH 52/65] Added rotation rand in socket for joint space. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 26f4f003b71d..e22d1270fb7a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -221,12 +221,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0., 0.], - "pitch": [0., 0.], - "yaw": [0., 0.], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0., 0.], + # "pitch": [0., 0.], + # "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 1774b73dc1ae5e18e013aa3da4eef2fcde769ba1 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 2 Jul 2026 10:32:51 -0700 Subject: [PATCH 53/65] Disabled sysid changes in jointspace. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index e22d1270fb7a..96c859ea9bde 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -77,7 +77,7 @@ # Leave ``False`` to keep the current behavior exactly (plain # ``RelativeJointPositionActionCfg`` + stock actuator PD gains + 240 Hz / dec 8). # This single flag is the only thing you need to change to revert. -USE_SIM2REAL_ACTION_MODEL = True +USE_SIM2REAL_ACTION_MODEL = False # Sim rate for the sim-to-real deployment loop. 200 Hz PhysX physics with # decimation 4 gives a 50 Hz effective control rate (== ashwin gear assembly). From 66af434725d58c881c7cf0c9452e372fe8742ec2 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 2 Jul 2026 10:33:14 -0700 Subject: [PATCH 54/65] Removed socket rot rand from jointspace. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 96c859ea9bde..b03a0e2fa0c7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -221,12 +221,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0., 0.], - # "pitch": [0., 0.], - # "yaw": [0., 0.], + # "roll": [-math.radians(2.0), math.radians(2.0)], + # "pitch": [-math.radians(2.0), math.radians(2.0)], + # "yaw": [-math.radians(2.0), math.radians(2.0)], + "roll": [0., 0.], + "pitch": [0., 0.], + "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), From 3dade3deea6d73d4175590b87b755138787a63d2 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Sun, 5 Jul 2026 22:54:47 -0700 Subject: [PATCH 55/65] Added rot rand and disabled curriculum training. --- .../displayport_rizon_4s/joint_pos_env_cfg.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index b03a0e2fa0c7..563fee127e6c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -221,12 +221,12 @@ class EventCfg: # "x": [-0.00, 0.00], # "y": [-0.00, 0.00], # "z": [-0.00, 0.00], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0., 0.], - "pitch": [0., 0.], - "yaw": [0., 0.], + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + # "roll": [0., 0.], + # "pitch": [0., 0.], + # "yaw": [0., 0.], }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), @@ -271,8 +271,8 @@ class EventCfg: params={ "plug_cfg": SceneEntityCfg("dp_plug"), "socket_cfg": SceneEntityCfg("dp_socket"), - "at_goal_prob": 0.8, - "at_goal_prob_final": 0.2, + "at_goal_prob": 0.0, + "at_goal_prob_final": 0.0, "anneal_start_iter": 0.0, "anneal_end_iter": 1000.0, "num_steps_per_env": 512, @@ -287,6 +287,9 @@ class EventCfg: "x": [-0.02, 0.02], "y": [-0.02, 0.02], "z": [-0.01, 0.01], + # "x": [-0.00, 0.00], + # "y": [-0.00, 0.00], + # "z": [-0.00, 0.00], }, }, ) From 4ca15d2fc83f12f4981f5bf5f483166e1bce7970 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Sun, 5 Jul 2026 23:01:07 -0700 Subject: [PATCH 56/65] Fixed curriculum training scheduling. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 563fee127e6c..de9b2f17c44d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -271,10 +271,10 @@ class EventCfg: params={ "plug_cfg": SceneEntityCfg("dp_plug"), "socket_cfg": SceneEntityCfg("dp_socket"), - "at_goal_prob": 0.0, + "at_goal_prob": 0.8, "at_goal_prob_final": 0.0, "anneal_start_iter": 0.0, - "anneal_end_iter": 1000.0, + "anneal_end_iter": 100.0, "num_steps_per_env": 512, "insertion_axis": [1.0, 0.0, 0.0], "insertion_length": _INSERTION_LENGTH, From ef132f276c63649795c415bb3f662db6aacbafd7 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 7 Jul 2026 12:31:01 -0700 Subject: [PATCH 57/65] Relocate DisplayPort cable_insertion under contrib/deploy after upstream rebase. Upstream moved deploy tasks from manager_based/manipulation/deploy to contrib/deploy; update module paths and scripts so DP env registration and imports match the new layout while keeping existing Isaac-Deploy task IDs. --- .../auto_insert_displayport_robot.py | 4 +- .../environments/step_displayport_robot.py | 6 +- .../isaaclab_tasks/contrib/deploy/__init__.py | 2 + .../deploy/cable_insertion/__init__.py | 0 .../cable_insertion_env_cfg.py | 4 +- .../deploy/cable_insertion/config/__init__.py | 0 .../config/displayport_basic/__init__.py | 0 .../displayport_basic_env_cfg.py | 2 +- .../config/displayport_basic/spawners.py | 0 .../config/displayport_rizon_4s/__init__.py | 2 +- .../displayport_rizon_4s/agents/__init__.py | 0 .../agents/rsl_rl_ppo_cfg.py | 0 .../displayport_rizon_4s/joint_pos_env_cfg.py | 6 +- .../ros_inference_env_cfg.py | 2 +- .../task_space_env_cfg.py | 6 +- .../task_space_ros_inference_env_cfg.py | 2 +- .../config/rizon_4s/__init__.py | 0 .../config/rizon_4s/agents/__init__.py | 0 .../config/rizon_4s/agents/rsl_rl_ppo_cfg.py | 0 .../config/rizon_4s/joint_pos_env_cfg.py | 6 +- .../config/rizon_4s/ros_inference_env_cfg.py | 2 +- .../config/rizon_4s/task_space_env_cfg.py | 8 +- .../task_space_ros_inference_env_cfg.py | 2 +- .../2584N111_Displayport Cord_plug.step | 0 ...1_Displayport Cord_plug_latch_removed.step | 0 .../2584N111_Displayport Cord_socket.step | 0 ...isplayport Cord_socket_screws_removed.step | 0 ...yport_cord_plug_latch_removed_simready.usd | 0 ...rt_cord_socket_screws_removed_simready.usd | 0 .../REPORT_socket.md | 128 ++++++++++++++++++ .../display_cable_insertion_assets/RESULT.md | 35 +++++ .../display_port_plug_fixed.usd | 0 .../display_port_plug_fixed_sdf.usd | 0 .../display_port_plug_fixed_watertight.usd | 0 .../display_port_socket_fixed.usd | 0 .../display_port_socket_fixed_sdf.usd | 0 ...ay_port_socket_fixed_sdf_noprotrusions.usd | 0 .../display_port_socket_fixed_watertight.usd | 0 .../displayport_cord_material.yaml | 0 .../displayport_cord_physics.yaml | 0 .../displayport_insertion_env_cfg.py | 8 +- .../deploy/cable_insertion/insertion_env.py | 0 42 files changed, 195 insertions(+), 30 deletions(-) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/__init__.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/cable_insertion_env_cfg.py (98%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/__init__.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_basic/__init__.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py (99%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_basic/spawners.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py (97%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py (98%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py (98%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py (98%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py (98%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/__init__.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/agents/__init__.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py (98%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py (97%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py (97%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py (97%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd (100%) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md create mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml (100%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/displayport_insertion_env_cfg.py (97%) rename source/isaaclab_tasks/isaaclab_tasks/{manager_based/manipulation => contrib}/deploy/cable_insertion/insertion_env.py (100%) diff --git a/scripts/environments/auto_insert_displayport_robot.py b/scripts/environments/auto_insert_displayport_robot.py index 83045dfe9956..a3e38c1cb44e 100644 --- a/scripts/environments/auto_insert_displayport_robot.py +++ b/scripts/environments/auto_insert_displayport_robot.py @@ -33,11 +33,11 @@ import isaaclab_tasks # noqa: F401 from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( compute_plug_pose, compute_socket_root, ) -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( _GEOMETRY_POS, _SOCKET_ROT, ) diff --git a/scripts/environments/step_displayport_robot.py b/scripts/environments/step_displayport_robot.py index eaf83aa0fb47..d68bce63714f 100644 --- a/scripts/environments/step_displayport_robot.py +++ b/scripts/environments/step_displayport_robot.py @@ -57,14 +57,14 @@ import isaaclab_tasks # noqa: F401 from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( compute_plug_pose, ) -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( _GEOMETRY_POS, _SOCKET_ROT, ) -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.displayport_rizon_4s.task_space_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.config.displayport_rizon_4s.task_space_env_cfg import ( _INSERTION_LENGTH, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/__init__.py index 3de316ff3300..5004a831f4a0 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/__init__.py @@ -11,5 +11,7 @@ The deploy module includes: - Reach environments for end-effector pose tracking +- Gear assembly environments for multi-gear insertion tasks +- Cable insertion environments for DisplayPort plug insertion tasks """ diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py similarity index 98% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py index b3e17a3e33eb..02e475d51c4b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py @@ -23,8 +23,8 @@ from isaaclab.utils import configclass from isaaclab.utils.noise import UniformNoiseCfg -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp -from isaaclab_tasks.manager_based.manipulation.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg +import isaaclab_tasks.contrib.deploy.mdp as mdp +from isaaclab_tasks.contrib.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg CONFIG_DIR = os.path.dirname(os.path.abspath(__file__)) ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets") diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/__init__.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/__init__.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/__init__.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/__init__.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py similarity index 99% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py index a9d37528e276..bbfa63c110ce 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py @@ -26,7 +26,7 @@ from isaaclab.sim.simulation_cfg import SimulationCfg from isaaclab.utils import configclass -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp +import isaaclab_tasks.contrib.deploy.mdp as mdp # --------------------------------------------------------------------------- # Asset paths diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/spawners.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_basic/spawners.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/spawners.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py similarity index 97% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py index 38e1ae231f35..220aafd62959 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py @@ -9,7 +9,7 @@ # Env class that logs task-success metrics during training (see insertion_env.py). _INSERTION_ENV_ENTRY = ( - "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.insertion_env:DisplayportInsertionEnv" + "isaaclab_tasks.contrib.deploy.cable_insertion.insertion_env:DisplayportInsertionEnv" ) ## diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py similarity index 98% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index de9b2f17c44d..a2dd4985a1e8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -22,9 +22,9 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.utils import configclass -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp -import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( +import isaaclab_tasks.contrib.deploy.mdp as mdp +import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( PLUG_GOAL_ROT, PLUG_INSERTION_OFFSET, SOCKET_INSERTION_OFFSET, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py similarity index 98% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index d82c9d5f5e9f..5ac2e94b9cf2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.utils import configclass -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( compute_plug_pose, compute_socket_root, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py similarity index 98% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index db6a26bf8672..b260550b723a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -23,9 +23,9 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.utils import configclass -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp -import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( +import isaaclab_tasks.contrib.deploy.mdp as mdp +import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( PLUG_GOAL_ROT, PLUG_INSERTION_OFFSET, SOCKET_INSERTION_OFFSET, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py similarity index 98% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py index fdb29086dc74..4b2e568e3ac0 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.utils import configclass -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.displayport_insertion_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( compute_plug_pose, compute_socket_root, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/__init__.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/__init__.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/__init__.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/__init__.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/__init__.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py similarity index 98% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py index 40b9e32a4d9e..e7e74284db33 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py @@ -13,9 +13,9 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.utils import configclass -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp -import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( +import isaaclab_tasks.contrib.deploy.mdp as mdp +import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( CableInsertionEnvCfg, compute_plug_pose, compute_socket_root, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py similarity index 97% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py index d2b446cd970e..0bce40a86108 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py @@ -8,7 +8,7 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.utils import configclass -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( compute_plug_pose, compute_socket_root, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py similarity index 97% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py index 1197e1e49e5b..65362244fd5a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py @@ -23,16 +23,16 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.utils import configclass -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp -import isaaclab_tasks.manager_based.manipulation.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( +import isaaclab_tasks.contrib.deploy.mdp as mdp +import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations +from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( PLUG_GOAL_ROT, PLUG_INSERTION_OFFSET, SOCKET_INSERTION_OFFSET, CableInsertionEnvCfg, ) -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.config.rizon_4s.joint_pos_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.config.rizon_4s.joint_pos_env_cfg import ( _PLUG_ROOT, _PLUG_ROT, _SOCKET_ROOT, diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py similarity index 97% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py index 3dd364b63aae..6812e21e6f21 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py @@ -14,7 +14,7 @@ from isaaclab.assets import RigidObjectCfg from isaaclab.utils import configclass -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( +from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( compute_plug_pose, compute_socket_root, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md new file mode 100644 index 000000000000..fa2d791e7f79 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md @@ -0,0 +1,128 @@ +# SimReady Asset Report: 2584N111 DisplayPort Cord Socket + +## Deliverables + +| Artifact | Path | SHA-256 | +| --- | --- | --- | +| SimReady USD | `04_author_simready/2584n111_displayport_cord_socket_screws_removed_simready.usd` | `f2bd60706466dd0829b9e51720f54ddcfb22ccd24f8aae8153d69823995a8f07` | +| RTX render | `06_render_final/final.png` | `99eaddc80a75e38a5f37d5ca5fe30da5012d77c639890a800ca4ad198ea8a760` | +| Authoring report | `04_author_simready/authoring_report.json` | See bundle | +| Validation reports | `05_validate_final/` | See bundle | + +![Final RTX render](06_render_final/final.png) + +## Source Asset + +- Input CAD: `/Users/lingq/Downloads/2584N111_Displayport Cord_socket_screws_removed.step` +- Input STEP SHA-256: `70069cb4791fca4e607492ab9aee63b83ccfefa50591879f339a81516360e967` +- Processing host: `horde@horde-dgxc.nvidia.com` +- Tooling: installed NVIDIA Skill Hub CAD-to-SimReady/OpenUSD validation tooling on the Horde machine + +## USD Structure + +| Property | Value | +| --- | --- | +| Default prim | `/tn__2584N111_Displayport_Cord_socket_screws_removed_` | +| Stage units | `metersPerUnit = 1.0` | +| Up axis | `Z` | +| Mesh count | `6` | +| Rigid body count | `6` | +| Collider count | `6` | +| Authored references | `0` | +| Prototype count | `0` | +| Final USD size | `413,443 bytes` | + +The delivered USD was flattened to a single self-contained layer and the internal CAD prototype/reference structure was removed before final authoring. + +## Geometry + +| Metric | Value | +| --- | --- | +| Bounds min, meters | `(0.0, -0.007400000256299972, -0.018999323284626005)` | +| Bounds max, meters | `(0.03750000028610229, 0.007400000256299972, 0.01900067676305771)` | +| Bounds size, meters | `(0.03750000028610229, 0.014800000512599944, 0.03800000004768371)` | +| Point count | `13,828` | +| Triangle count | `12,653` | + +## Materials + +| CAD body | Visual material | Role | +| --- | --- | --- | +| `Body8` | Warm off-white plastic | Molded housing and rear strain-relief geometry | +| `Body4`, `Body5`, `Body6` | Brushed dark metal | DisplayPort socket shell/contact structures | +| `Body12`, `Body13` | Dark screw-bore metal | Screw-bore insert surfaces after screw removal | + +All visual materials are authored as `UsdPreviewSurface` materials. + +## Physical Properties + +| Property | Value | +| --- | --- | +| Total estimated mass | `0.013 kg` | +| Collision approximation | `convexHull` per mesh | +| Static friction | `0.85` | +| Dynamic friction | `0.65` | +| Restitution | `0.08` | +| Physics density | `1200 kg/m^3` | + +Mass was estimated from the small connector scale and distributed across the functional CAD bodies: + +| Body | Mass, kg | +| --- | ---: | +| `Body4` | `0.0015` | +| `Body5` | `0.0020` | +| `Body6` | `0.0010` | +| `Body8` | `0.0075` | +| `Body12` | `0.0005` | +| `Body13` | `0.0005` | + +## Grasp Annotation + +| Property | Value | +| --- | --- | +| Path | `/tn__2584N111_Displayport_Cord_socket_screws_removed_/GraspAnnotations/grasp_identifier_01` | +| Type | `parallel_gripper_grasp_axis` | +| Target | Main plastic housing | +| Point A, meters | `(0.01875000074505806, -0.006599999964237213, 0.0)` | +| Point B, meters | `(0.01875000074505806, 0.006599999964237213, 0.0)` | +| Width | `0.0012 m` | + +## Validation Summary + +| Gate | Status | Errors | Failures | Warnings | +| --- | --- | ---: | ---: | ---: | +| Minimum USD validation | `PASS` | `0` | `0` | `1` | +| Omni asset validation | `PASS` | `0` | `0` | `7` | +| Omni geometry validation | `PASS` | `0` | `0` | `7` | +| Omni physics validation | `PASS` | `0` | `0` | `0` | +| SimReady profile validation | `PASS` | `0` | `0` | `0` | +| OVRTX render | `PASS` | `0` | `0` | `1` | + +SimReady validation target: + +- Profile: `Prop-Robotics-Neutral` +- Version: `1.0.0` +- Result: `PASS` +- SimReady issue counts: `ERROR=0`, `FAILURE=0`, `WARNING=0` + +Passed SimReady features: + +- `FET000_CORE` +- `FET001_BASE_NEUTRAL` +- `FET003_BASE_NEUTRAL` +- `FET004_BASE_NEUTRAL` +- `FET005_BASE_NEUTRAL` +- `FET006_BASE_MDL` + +## Residual Non-Blocking Warnings + +The final asset passed validation. Remaining warnings are non-blocking: + +- `IndexedPrimvarChecker`: repeated `primvars:st` values can be indexed on the six CAD meshes. +- `ManifoldChecker`: `Body13/Mesh` has 2 non-manifold vertices from the source CAD tessellation. +- Render report warning: Pillow was unavailable in the validation virtualenv, so pixel inspection was skipped by that wrapper. The render file was produced successfully and manually inspected. +- Minimum USD warning: the validator reported an anonymous session layer while opening the USD; the delivered USD itself has no authored references and no prototypes. + +## Conclusion + +`2584n111_displayport_cord_socket_screws_removed_simready.usd` is SimReady for the validated `Prop-Robotics-Neutral` profile. It has explicit materials, physical material parameters, rigid bodies, convex-hull colliders, mass properties, stage units, up-axis metadata, and a grasp-axis annotation. Physics and SimReady profile validation are clean passes. diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md new file mode 100644 index 000000000000..d0b7e7b67eba --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md @@ -0,0 +1,35 @@ +# 2584N111 DisplayPort Cord Plug SimReady Result + +## Final artifact + +- USD: `2584n111_displayport_cord_plug_latch_removed_simready.usd` +- Preview: `thumbnail.png` +- Validation reports: + - `minimum-usd.json` + - `asset-validator.json` + - `simready-profile.json` + - `ovrtx-render-service.json` + +## Provenance + +- Source STEP SHA-256: `6b56128cdf97bbb220f05bd4d159525873ac663042d90512f490208491421c17` +- Skill Hub clone: `NVIDIA/skills` +- Skill Hub commit: `8b6938719346266262d21a16c5ab20c1ea8156f9` +- Remote run root: `/home/horde/nvidia-skills-cad2simready-runs/20260529-2584n111-plug-latch-removed` +- SimReady profile: `Prop-Robotics-Neutral@1.0.0` + +## Validation + +- Minimum USD: PASS +- Omni Asset Validator: PASS, with warnings only +- Geometry validation: PASS, with warnings only +- Physics validation: PASS +- SimReady profile validation: PASS +- OVRTX render service: PASS + +## Notes + +- Final USD has `metersPerUnit = 1.0`, `upAxis = Z`, 20 mesh prims, 24 material bindings, 4 colliders, and 4 rigid bodies. +- The Material Agent completed, but only 1 of 4 material VLM predictions succeeded; visual material accuracy should be treated as limited. +- The Physics Agent completed, but its semantic identification called the part an automotive diagnostic adapter. The final USD still passes the selected SimReady validation profile. +- Remaining validator messages are warnings: repeated indexed primvars and 11 non-manifold vertices on one mesh. diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_sdf.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf_noprotrusions.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py similarity index 97% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py index 9bf0012c6fcf..b968cefa1a9b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -45,18 +45,18 @@ from isaaclab.utils import configclass from isaaclab.utils.noise import UniformNoiseCfg -import isaaclab_tasks.manager_based.manipulation.deploy.mdp as mdp -from isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion.cable_insertion_env_cfg import ( +import isaaclab_tasks.contrib.deploy.mdp as mdp +from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( _quat_mul, _quat_rotate_vec, ) -from isaaclab_tasks.manager_based.manipulation.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg +from isaaclab_tasks.contrib.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg CABLE_INSERTION_DIR = os.path.dirname(os.path.abspath(__file__)) DISPLAY_ASSETS_DIR = os.path.join(CABLE_INSERTION_DIR, "display_cable_insertion_assets") # _DP_SPAWNER = ( # old: runtime USD patching for original multi-body simready assets -# "isaaclab_tasks.manager_based.manipulation.deploy.cable_insertion" +# "isaaclab_tasks.contrib.deploy.cable_insertion" # ".config.displayport_basic.spawners:spawn_usd_with_physics" # ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/insertion_env.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py similarity index 100% rename from source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/insertion_env.py rename to source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py From 6da4b451020ec4628ae731295846974b5182dfac Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 7 Jul 2026 14:03:26 -0700 Subject: [PATCH 58/65] Prune DP cable insertion branch to training/inference essentials. Remove debug scripts, asset tooling, passive drop-test env, legacy GB300 configs, unused assets, and disabled sysid action plumbing. Keep only the displayport_rizon_4s joint/task/ROS env variants and the two SDF USD assets used by the training envs. --- scripts/check_dp_collision.py | 188 - scripts/diagnose_dp_insertion.py | 374 - .../auto_insert_displayport_robot.py | 341 - .../environments/debug_policy_insertion.py | 255 - scripts/environments/step_displayport.py | 515 - .../environments/step_displayport_robot.py | 364 - scripts/find_dp_insertion.py | 188 - .../rsl_rl/success_utils.py | 87 - scripts/tools/flatten_cable_usd.py | 257 - scripts/tools/inspect_cable_usd.py | 94 - scripts/tools/inspect_cable_usd_kit.py | 107 - .../cable_insertion_env_cfg.py | 351 - .../config/displayport_basic/__init__.py | 19 - .../displayport_basic_env_cfg.py | 281 - .../config/displayport_basic/spawners.py | 202 - .../displayport_rizon_4s/joint_pos_env_cfg.py | 117 +- .../config/rizon_4s/__init__.py | 72 - .../config/rizon_4s/agents/__init__.py | 6 - .../config/rizon_4s/agents/rsl_rl_ppo_cfg.py | 49 - .../config/rizon_4s/joint_pos_env_cfg.py | 364 - .../config/rizon_4s/ros_inference_env_cfg.py | 112 - .../config/rizon_4s/task_space_env_cfg.py | 425 - .../task_space_ros_inference_env_cfg.py | 111 - .../2584N111_Displayport Cord_plug.step | 35031 -------- ...1_Displayport Cord_plug_latch_removed.step | 34756 -------- .../2584N111_Displayport Cord_socket.step | 66487 ---------------- ...isplayport Cord_socket_screws_removed.step | 50413 ------------ ...yport_cord_plug_latch_removed_simready.usd | 3 - ...rt_cord_socket_screws_removed_simready.usd | 3 - .../REPORT_socket.md | 128 - .../display_cable_insertion_assets/RESULT.md | 35 - .../display_port_plug_fixed.usd | 3 - .../display_port_plug_fixed_watertight.usd | 3 - .../display_port_socket_fixed.usd | 3 - .../display_port_socket_fixed_sdf.usd | 3 - .../display_port_socket_fixed_watertight.usd | 3 - .../displayport_cord_material.yaml | 152 - .../displayport_cord_physics.yaml | 118 - .../displayport_insertion_env_cfg.py | 64 +- .../gear_assembly/config/ur_10e/__init__.py | 2 - .../contrib/deploy/mdp/__init__.pyi | 16 - .../deploy/mdp/delayed_joint_actions.py | 296 - .../deploy/mdp/delayed_joint_actions_cfg.py | 76 - 43 files changed, 39 insertions(+), 192435 deletions(-) delete mode 100644 scripts/check_dp_collision.py delete mode 100644 scripts/diagnose_dp_insertion.py delete mode 100644 scripts/environments/auto_insert_displayport_robot.py delete mode 100644 scripts/environments/debug_policy_insertion.py delete mode 100644 scripts/environments/step_displayport.py delete mode 100644 scripts/environments/step_displayport_robot.py delete mode 100644 scripts/find_dp_insertion.py delete mode 100644 scripts/reinforcement_learning/rsl_rl/success_utils.py delete mode 100644 scripts/tools/flatten_cable_usd.py delete mode 100644 scripts/tools/inspect_cable_usd.py delete mode 100644 scripts/tools/inspect_cable_usd_kit.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/__init__.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/spawners.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/__init__.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/__init__.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug_latch_removed.step delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket.step delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_socket_screws_removed.step delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_plug_latch_removed_simready.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py diff --git a/scripts/check_dp_collision.py b/scripts/check_dp_collision.py deleted file mode 100644 index abe0d6c9a6cf..000000000000 --- a/scripts/check_dp_collision.py +++ /dev/null @@ -1,188 +0,0 @@ -"""Headless diagnostic: dump cooked collision approximation for the DisplayPort -plug/socket and step the passive drop to measure insertion depth. - -Usage: - ./isaaclab.sh -p scripts/check_dp_collision.py --headless --steps 600 -""" - -import argparse -import sys - -import gymnasium as gym -import torch - -import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config - -TASK = "Isaac-Deploy-DisplayportBasic-v0" -OUT = open("/home/shauryad/output_dir/dp_diag.txt", "w") - - -def log(*a): - msg = " ".join(str(x) for x in a) - print(msg) - OUT.write(msg + "\n") - OUT.flush() - -parser = argparse.ArgumentParser(description="Headless DisplayPort collision diagnostic.") -parser.add_argument("--num_envs", type=int, default=1) -parser.add_argument("--steps", type=int, default=600) -parser.add_argument( - "--insertion-pose", - action="store_true", - help="Teleport plug to the computed insertion pose (gravity off) and check it stays seated (tests the 'jumps out' instability).", -) -parser.add_argument( - "--drop-aligned", - action="store_true", - help="Start the plug aligned and 15 mm above the seated pose, gravity ON, and check it slides in and seats (true dynamic insertion).", -) -# Computed by diagnose_dp_insertion.py for the current assets. -# diagnose prints the quat as (x,y,z,w)=(-0.70711,-0.70711,0,0); converted here -# to the (w,x,y,z) order that write_root_pose_to_sim expects. -INSERTION_POSE_POS = (0.00005, -0.01018, 0.16143) -INSERTION_POSE_ROT = (-0.5, 0.5, 0.5, 0.5) # (w, x, y, z) — from find_dp_insertion.py -add_launcher_args(parser) -args_cli, hydra_args = parser.parse_known_args() -sys.argv = [sys.argv[0]] + hydra_args - - -def dump_collisions(stage): - from pxr import Usd, UsdGeom, UsdPhysics - - for label, path in [ - ("PLUG", "/World/envs/env_0/DisplayPortPlug"), - ("SOCKET", "/World/envs/env_0/DisplayPortSocket"), - ]: - root = stage.GetPrimAtPath(path) - log(f"\n=== {label}: {path} (valid={root.IsValid()}) ===") - if not root.IsValid(): - continue - pred = Usd.TraverseInstanceProxies(Usd.PrimDefaultPredicate) - for prim in Usd.PrimRange(root, pred): - if prim.HasAPI(UsdPhysics.RigidBodyAPI): - ke = prim.GetAttribute("physics:kinematicEnabled") - log(f" RigidBody root: {prim.GetPath()} kinematic={ke.Get() if ke.IsValid() else None}") - log(f" root instanceable={root.IsInstanceable()} is_instance={root.IsInstance()}") - n_mesh = n_coll = 0 - for prim in Usd.PrimRange(root, pred): - if prim.IsA(UsdGeom.Mesh): - n_mesh += 1 - if not (prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI)): - continue - n_coll += 1 - approx = prim.GetAttribute("physics:approximation") - ce = prim.GetAttribute("physics:collisionEnabled") - physx = [s for s in prim.GetAppliedSchemas() if "Physx" in s and "Collision" in s] - log( - f" {prim.GetParent().GetName()}/{prim.GetName()}" - f" approx={approx.Get() if approx.IsValid() else 'NA'}" - f" collEnabled={ce.Get() if ce.IsValid() else True}" - f" instProxy={prim.IsInstanceProxy()}" - f" physx={physx}" - ) - log(f" -> meshes(incl. instance proxies)={n_mesh} collision_meshes={n_coll}") - - -def main(): - env_cfg, _ = resolve_task_config(TASK, "") - with launch_simulation(env_cfg, args_cli): - env_cfg.scene.num_envs = args_cli.num_envs - env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device - - env = gym.make(TASK, cfg=env_cfg) - env.reset() - - from isaaclab.sim.utils import get_current_stage - - dump_collisions(get_current_stage()) - - plug = env.unwrapped.scene["dp_plug"] - socket = env.unwrapped.scene["dp_socket"] - actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) - - def _np(arr): - try: - return arr.numpy() - except Exception: - import warp as wp - - return wp.to_torch(arr).cpu().numpy() - - def report(tag): - p = _np(plug.data.root_pos_w)[0].tolist() - s = _np(socket.data.root_pos_w)[0].tolist() - log( - f" [{tag:>10}] plug_z={p[2]:.4f} socket_z={s[2]:.4f} " - f"dz(plug-socket)={p[2] - s[2]:+.4f} plug_xy=({p[0]:+.4f},{p[1]:+.4f})" - ) - - if args_cli.insertion_pose: - from pxr import PhysxSchema - - from isaaclab.sim.utils import get_current_stage - - # gravity off so we isolate collision response (ejection) from falling - plug_prim = get_current_stage().GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") - PhysxSchema.PhysxRigidBodyAPI(plug_prim).GetDisableGravityAttr().Set(True) - - cur = plug.data.root_pos_w - pose = _np(cur).copy()[0:1] # placeholder shape - pose_t = torch.tensor( - [list(INSERTION_POSE_POS) + list(INSERTION_POSE_ROT)], - device=env.unwrapped.device, - dtype=torch.float32, - ) - plug.write_root_pose_to_sim(pose_t) - zeros = torch.zeros((1, 6), device=env.unwrapped.device, dtype=torch.float32) - plug.write_root_velocity_to_sim(zeros) - - log("\n=== insertion-pose stability (gravity OFF) — drift = ejection ===") - start = _np(plug.data.root_pos_w)[0].copy() - report("placed") - with torch.inference_mode(): - for i in range(args_cli.steps): - env.step(actions) - if (i + 1) % 60 == 0: - now = _np(plug.data.root_pos_w)[0] - drift = float(((now - start) ** 2).sum() ** 0.5) - report(f"step {i + 1}") - log(f" drift_from_placed={drift * 1000:.2f} mm") - elif args_cli.drop_aligned: - # Start aligned to the insertion orientation, 15 mm above the seated - # pose along the insertion axis (world +Z), gravity ON. Insertion - # axis is world -Z, so gravity should drive the plug into the cavity. - start_pos = (INSERTION_POSE_POS[0], INSERTION_POSE_POS[1], INSERTION_POSE_POS[2] + 0.015) - pose_t = torch.tensor( - [list(start_pos) + list(INSERTION_POSE_ROT)], - device=env.unwrapped.device, - dtype=torch.float32, - ) - plug.write_root_pose_to_sim(pose_t) - plug.write_root_velocity_to_sim( - torch.zeros((1, 6), device=env.unwrapped.device, dtype=torch.float32) - ) - seated_z = INSERTION_POSE_POS[2] - log("\n=== aligned drop (gravity ON) — should slide DOWN to seated z≈%.4f ===" % seated_z) - report("placed") - with torch.inference_mode(): - for i in range(args_cli.steps): - env.step(actions) - if (i + 1) % 60 == 0: - report(f"step {i + 1}") - zf = _np(plug.data.root_pos_w)[0][2] - log(f" -> final plug_z={zf:.4f} (seated≈{seated_z:.4f}; lower=inserted, ~0.20=rested on top)") - else: - log("\n=== drop test (plug falls under gravity) ===") - report("t=0") - with torch.inference_mode(): - for i in range(args_cli.steps): - env.step(actions) - if (i + 1) % 60 == 0: - report(f"step {i + 1}") - report("final") - log("\nDONE") - - -if __name__ == "__main__": - main() diff --git a/scripts/diagnose_dp_insertion.py b/scripts/diagnose_dp_insertion.py deleted file mode 100644 index 0a5475805c93..000000000000 --- a/scripts/diagnose_dp_insertion.py +++ /dev/null @@ -1,374 +0,0 @@ -"""Diagnose DisplayPort plug/socket insertion geometry. - -Analyzes the fixed USD assets to determine: - 1. Whether the plug connector cross-section fits inside the socket cavity - 2. The correct world-space insertion pose (position + quaternion) - -Usage: - /path/to/isaaclab/python scripts/diagnose_dp_insertion.py -""" - -from __future__ import annotations - -import math -import os - -from pxr import Gf, Usd, UsdGeom - -ASSETS_DIR = os.path.join( - os.path.dirname(os.path.abspath(__file__)), - "..", - "source", - "isaaclab_tasks", - "isaaclab_tasks", - "manager_based", - "manipulation", - "deploy", - "cable_insertion", - "display_cable_insertion_assets", -) - -PLUG_PATH = os.path.join(ASSETS_DIR, "display_port_plug_fixed.usd") -SOCKET_PATH = os.path.join(ASSETS_DIR, "display_port_socket_fixed.usd") - -# Socket rotation used in the env config (x, y, z, w) -SOCKET_ROT_XYZW = (0.5, 0.5, 0.5, -0.5) -SOCKET_POS = (0.0, 0.0, 0.15) - -PLUG_ROT_XYZW = (0.70711, 0.70711, 0.0, 0.0) - - -def _load_points(usd_path: str) -> list[Gf.Vec3f]: - """Load all mesh points from a single-mesh fixed USD.""" - stage = Usd.Stage.Open(usd_path) - for prim in stage.TraverseAll(): - if prim.IsA(UsdGeom.Mesh): - return list(UsdGeom.Mesh(prim).GetPointsAttr().Get()) - raise RuntimeError(f"No mesh found in {usd_path}") - - -def _load_body_points_original(usd_path: str, scale: float) -> dict[str, list[Gf.Vec3d]]: - """Load per-body world-space points from the ORIGINAL (pre-fix) USD.""" - stage = Usd.Stage.Open(usd_path) - xf_cache = UsdGeom.XformCache() - bodies: dict[str, list[Gf.Vec3d]] = {} - seen_keys: set[tuple[str, int]] = set() - for prim in stage.TraverseAll(): - if not prim.IsA(UsdGeom.Mesh): - continue - parent = prim.GetParent().GetName() - pts = UsdGeom.Mesh(prim).GetPointsAttr().Get() - if not pts: - continue - key = (parent, len(pts)) - if key in seen_keys: - continue - seen_keys.add(key) - world_xf = xf_cache.GetLocalToWorldTransform(prim) - world_pts = [] - for p in pts: - wp = world_xf.Transform(Gf.Vec3d(p[0], p[1], p[2])) - world_pts.append(Gf.Vec3d(wp[0] * scale, wp[1] * scale, wp[2] * scale)) - bodies[parent] = world_pts - return bodies - - -def _bbox(pts): - """Return (min_xyz, max_xyz) for a list of points.""" - xs = [p[0] for p in pts] - ys = [p[1] for p in pts] - zs = [p[2] for p in pts] - return (min(xs), min(ys), min(zs)), (max(xs), max(ys), max(zs)) - - -def _quat_to_matrix(q_xyzw): - """Convert (x,y,z,w) quaternion to a Gf.Matrix4d rotation.""" - x, y, z, w = q_xyzw - rot = Gf.Rotation(Gf.Quatd(w, x, y, z)) - m = Gf.Matrix4d() - m.SetRotate(rot) - return m - - -def _quat_mul(q1, q2): - """Multiply two (x,y,z,w) quaternions.""" - x1, y1, z1, w1 = q1 - x2, y2, z2, w2 = q2 - return ( - w1*x2 + x1*w2 + y1*z2 - z1*y2, - w1*y2 - x1*z2 + y1*w2 + z1*x2, - w1*z2 + x1*y2 - y1*x2 + z1*w2, - w1*w2 - x1*x2 - y1*y2 - z1*z2, - ) - - -def _quat_inv(q): - """Invert a unit quaternion (x,y,z,w).""" - x, y, z, w = q - return (-x, -y, -z, w) - - -def _rotate_vec(q_xyzw, v): - """Rotate vector v by quaternion q (x,y,z,w).""" - qx, qy, qz, qw = q_xyzw - vx, vy, vz = v - tx = 2.0*(qy*vz - qz*vy) - ty = 2.0*(qz*vx - qx*vz) - tz = 2.0*(qx*vy - qy*vx) - return ( - vx + qw*tx + qy*tz - qz*ty, - vy + qw*ty + qz*tx - qx*tz, - vz + qw*tz + qx*ty - qy*tx, - ) - - -def _transform_points_by_pose(pts, pos, rot_xyzw): - """Apply rigid body transform (pos, rot) to a list of points.""" - m = _quat_to_matrix(rot_xyzw) - out = [] - for p in pts: - rp = m.Transform(Gf.Vec3d(p[0], p[1], p[2])) - out.append(Gf.Vec3d(rp[0]+pos[0], rp[1]+pos[1], rp[2]+pos[2])) - return out - - -def _cross_section_at_x(pts, x_val, tol=0.0005): - """Get Y-Z bounds of points near a given X value.""" - nearby = [(p[1], p[2]) for p in pts if abs(p[0] - x_val) < tol] - if not nearby: - return None - ys = [p[0] for p in nearby] - zs = [p[1] for p in nearby] - return (min(ys), max(ys)), (min(zs), max(zs)) - - -def main(): - print("=" * 70) - print("DisplayPort Insertion Geometry Diagnostic") - print("=" * 70) - - # --- 1. Load fixed assets and show local-frame bounding boxes --- - plug_pts = _load_points(PLUG_PATH) - socket_pts = _load_points(SOCKET_PATH) - - plug_min, plug_max = _bbox(plug_pts) - sock_min, sock_max = _bbox(socket_pts) - - print("\n--- Local-frame bounding boxes (mm) ---") - print(f"Plug: X[{plug_min[0]*1e3:.2f}, {plug_max[0]*1e3:.2f}] " - f"Y[{plug_min[1]*1e3:.2f}, {plug_max[1]*1e3:.2f}] " - f"Z[{plug_min[2]*1e3:.2f}, {plug_max[2]*1e3:.2f}]") - print(f"Socket: X[{sock_min[0]*1e3:.2f}, {sock_max[0]*1e3:.2f}] " - f"Y[{sock_min[1]*1e3:.2f}, {sock_max[1]*1e3:.2f}] " - f"Z[{sock_min[2]*1e3:.2f}, {sock_max[2]*1e3:.2f}]") - - # --- 2. Load original per-body geometry for anatomy --- - orig_plug_dir = os.path.join(ASSETS_DIR, "display_port_plug.usd") - orig_sock_dir = os.path.join(ASSETS_DIR, "display_port_socket.usd") - - print("\n--- Per-body anatomy (world-space, mm) ---") - for label, path, scale in [("PLUG", orig_plug_dir, 0.01), ("SOCKET", orig_sock_dir, 0.01)]: - bodies = _load_body_points_original(path, scale) - print(f"\n {label}:") - for name, pts in bodies.items(): - bmin, bmax = _bbox(pts) - print(f" {name:8s} X[{bmin[0]*1e3:7.2f},{bmax[0]*1e3:7.2f}] " - f"Y[{bmin[1]*1e3:7.2f},{bmax[1]*1e3:7.2f}] " - f"Z[{bmin[2]*1e3:7.2f},{bmax[2]*1e3:7.2f}] " - f"size({(bmax[0]-bmin[0])*1e3:.2f} x {(bmax[1]-bmin[1])*1e3:.2f} x {(bmax[2]-bmin[2])*1e3:.2f})") - - # --- 3. World-space transforms --- - print("\n--- World-space bounding boxes (mm) ---") - sock_world = _transform_points_by_pose(socket_pts, SOCKET_POS, SOCKET_ROT_XYZW) - sw_min, sw_max = _bbox(sock_world) - print(f"Socket (world): X[{sw_min[0]*1e3:.2f}, {sw_max[0]*1e3:.2f}] " - f"Y[{sw_min[1]*1e3:.2f}, {sw_max[1]*1e3:.2f}] " - f"Z[{sw_min[2]*1e3:.2f}, {sw_max[2]*1e3:.2f}]") - - plug_world = _transform_points_by_pose(plug_pts, (0, 0, 0.25), PLUG_ROT_XYZW) - pw_min, pw_max = _bbox(plug_world) - print(f"Plug (world): X[{pw_min[0]*1e3:.2f}, {pw_max[0]*1e3:.2f}] " - f"Y[{pw_min[1]*1e3:.2f}, {pw_max[1]*1e3:.2f}] " - f"Z[{pw_min[2]*1e3:.2f}, {pw_max[2]*1e3:.2f}]") - - # --- 4. Determine socket cavity axes in world space --- - # The socket's local X axis is the insertion depth axis. - # With socket rotation, find where it maps in world space. - socket_x_world = _rotate_vec(SOCKET_ROT_XYZW, (1, 0, 0)) - socket_y_world = _rotate_vec(SOCKET_ROT_XYZW, (0, 1, 0)) - socket_z_world = _rotate_vec(SOCKET_ROT_XYZW, (0, 0, 1)) - print(f"\nSocket local X (insertion depth) -> world: ({socket_x_world[0]:.3f}, {socket_x_world[1]:.3f}, {socket_x_world[2]:.3f})") - print(f"Socket local Y (height) -> world: ({socket_y_world[0]:.3f}, {socket_y_world[1]:.3f}, {socket_y_world[2]:.3f})") - print(f"Socket local Z (width) -> world: ({socket_z_world[0]:.3f}, {socket_z_world[1]:.3f}, {socket_z_world[2]:.3f})") - - plug_x_world = _rotate_vec(PLUG_ROT_XYZW, (1, 0, 0)) - plug_y_world = _rotate_vec(PLUG_ROT_XYZW, (0, 1, 0)) - plug_z_world = _rotate_vec(PLUG_ROT_XYZW, (0, 0, 1)) - print(f"\nPlug local X -> world: ({plug_x_world[0]:.3f}, {plug_x_world[1]:.3f}, {plug_x_world[2]:.3f})") - print(f"Plug local Y -> world: ({plug_y_world[0]:.3f}, {plug_y_world[1]:.3f}, {plug_y_world[2]:.3f})") - print(f"Plug local Z -> world: ({plug_z_world[0]:.3f}, {plug_z_world[1]:.3f}, {plug_z_world[2]:.3f})") - - # --- 5. Compute insertion pose --- - # Strategy: the plug needs to be oriented so its insertion axis aligns - # with the socket insertion axis, and positioned so the connector part - # is centered inside the socket cavity. - # - # Socket cavity center (local frame, from Body5 midpoint): - # Body5 X: [8.31, 13.16] -> midpoint ~10.7mm -> 0.0107m - # Body5 Y: [-1.04, 1.07] -> midpoint ~0.015mm -> ~0 - # Body5 Z: [-3.30, 3.27] -> midpoint ~-0.015mm -> ~0 - # So the cavity center in socket local frame is approx (0.0107, 0, 0) - # - # Plug connector center (local frame, from Body1): - # Body1 X: [-2.85, 3.41] -> midpoint ~0.28mm -> 0.00028m - # Body1 Y: [-0.92, 0.92] -> midpoint ~0 - # Body1 Z: [3.18, 12.98] -> midpoint ~8.08mm -> 0.00808m - # The connector tip is at max Z in plug local frame: ~0.013m - - # Socket cavity entrance (high-X end in socket local frame) - sock_cavity_entrance_local = (0.013, 0.0, 0.0) - sock_cavity_center_local = (0.0107, 0.0, 0.0) - - # Transform to world - cavity_entrance_world = _rotate_vec(SOCKET_ROT_XYZW, sock_cavity_entrance_local) - cavity_entrance_world = tuple(c + s for c, s in zip(cavity_entrance_world, SOCKET_POS)) - - cavity_center_world = _rotate_vec(SOCKET_ROT_XYZW, sock_cavity_center_local) - cavity_center_world = tuple(c + s for c, s in zip(cavity_center_world, SOCKET_POS)) - - print(f"\nSocket cavity entrance (world, mm): ({cavity_entrance_world[0]*1e3:.2f}, {cavity_entrance_world[1]*1e3:.2f}, {cavity_entrance_world[2]*1e3:.2f})") - print(f"Socket cavity center (world, mm): ({cavity_center_world[0]*1e3:.2f}, {cavity_center_world[1]*1e3:.2f}, {cavity_center_world[2]*1e3:.2f})") - - # The plug's connector tip (Body1 max-Z in plug local frame) should - # align with the socket cavity entrance. We need the plug rotation such - # that the plug's Z+ axis (connector insertion direction) aligns with - # the socket's X- axis (insertion goes into the socket from the high-X side). - # - # Try several candidate rotations and pick the one that aligns axes best. - # The plug connector extends along +Z in local frame. - # The socket receptacle opens along -X in local frame (plug goes in from +X side). - # So we need plug_local_Z to map to socket_local_(-X) in world frame. - # i.e. plug_rot should map (0,0,1) to -socket_x_world - - target_insertion_dir = tuple(-c for c in socket_x_world) - print(f"\nTarget insertion direction (world): ({target_insertion_dir[0]:.3f}, {target_insertion_dir[1]:.3f}, {target_insertion_dir[2]:.3f})") - print(f"Current plug Z in world: ({plug_z_world[0]:.3f}, {plug_z_world[1]:.3f}, {plug_z_world[2]:.3f})") - - # Try a grid of euler angles to find plug rotation that best aligns - # plug_Z -> target_insertion_dir AND plug_Y -> socket_Y - best_rot = None - best_score = float('inf') - for rx in range(0, 360, 90): - for ry in range(0, 360, 90): - for rz in range(0, 360, 90): - rx_r, ry_r, rz_r = math.radians(rx), math.radians(ry), math.radians(rz) - # Build quaternion from euler XYZ - cx, sx = math.cos(rx_r/2), math.sin(rx_r/2) - cy, sy = math.cos(ry_r/2), math.sin(ry_r/2) - cz, sz = math.cos(rz_r/2), math.sin(rz_r/2) - # qx - qx = (sx, 0, 0, cx) - qy = (0, sy, 0, cy) - qz = (0, 0, sz, cz) - q = _quat_mul(_quat_mul(qz, qy), qx) # ZYX convention - - pz = _rotate_vec(q, (0, 0, 1)) - py = _rotate_vec(q, (0, 1, 0)) - - # Score: how well plug_Z aligns with target insertion dir - dot_z = sum(a*b for a, b in zip(pz, target_insertion_dir)) - # Also check plug_Y aligns with socket_Y (height direction) - dot_y = sum(a*b for a, b in zip(py, socket_y_world)) - score = (1 - dot_z)**2 + (1 - dot_y)**2 - if score < best_score: - best_score = score - best_rot = q - best_euler = (rx, ry, rz) - - print(f"\nBest plug rotation: euler=({best_euler[0]}, {best_euler[1]}, {best_euler[2]}) deg") - print(f" quaternion (x,y,z,w): ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") - best_pz = _rotate_vec(best_rot, (0, 0, 1)) - best_py = _rotate_vec(best_rot, (0, 1, 0)) - best_px = _rotate_vec(best_rot, (1, 0, 0)) - print(f" plug Z (insertion) -> world: ({best_pz[0]:.3f}, {best_pz[1]:.3f}, {best_pz[2]:.3f})") - print(f" plug Y (height) -> world: ({best_py[0]:.3f}, {best_py[1]:.3f}, {best_py[2]:.3f})") - print(f" plug X -> world: ({best_px[0]:.3f}, {best_px[1]:.3f}, {best_px[2]:.3f})") - - # Compute position: place plug connector tip at socket cavity entrance - # Plug connector tip in plug local frame: center of Body1 at max Z - plug_connector_tip_local = (0.00028, 0.0, 0.01298) - tip_world = _rotate_vec(best_rot, plug_connector_tip_local) - - # Place tip at cavity entrance - plug_goal_pos = tuple(ce - tw for ce, tw in zip(cavity_entrance_world, tip_world)) - - print(f"\n--- COMPUTED INSERTION POSE ---") - print(f" plug_pos = ({plug_goal_pos[0]:.6f}, {plug_goal_pos[1]:.6f}, {plug_goal_pos[2]:.6f})") - print(f" plug_rot = ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") - - # Also compute a "partially inserted" pose (halfway into cavity) - plug_partial_pos = tuple(ce - tw + 0.5*(cc - ce) for ce, tw, cc in - zip(cavity_entrance_world, tip_world, cavity_center_world)) - print(f"\n--- PARTIALLY INSERTED POSE ---") - print(f" plug_pos = ({plug_partial_pos[0]:.6f}, {plug_partial_pos[1]:.6f}, {plug_partial_pos[2]:.6f})") - print(f" plug_rot = ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") - - # --- 6. Cross-section fit check --- - print("\n--- Cross-section fit analysis ---") - # Transform plug points using the best rotation to socket local frame - # so we can compare Y-Z cross sections directly - sock_rot_inv = _quat_inv(SOCKET_ROT_XYZW) - - # Get socket points in socket-local frame (just the raw points) - sock_local = socket_pts # already in local frame - - # Transform plug to socket-local frame at the insertion pose - plug_at_goal = _transform_points_by_pose(plug_pts, plug_goal_pos, best_rot) - # Now convert from world to socket-local - plug_in_sock_local = [] - for p in plug_at_goal: - shifted = Gf.Vec3d(p[0]-SOCKET_POS[0], p[1]-SOCKET_POS[1], p[2]-SOCKET_POS[2]) - rp = _quat_to_matrix(sock_rot_inv).Transform(shifted) - plug_in_sock_local.append(rp) - - # Check cross-sections at various X positions along socket insertion axis - print(f"\n Socket cavity (local Y-Z cross-section) vs Plug at insertion pose:") - print(f" {'X(mm)':>7s} {'Sock Y range':>16s} {'Sock Z range':>16s} {'Plug Y range':>16s} {'Plug Z range':>16s} {'Fits?':>6s}") - - for x_mm in range(8, 16): - x_m = x_mm / 1000.0 - tol = 0.001 - - sock_cs = [(p[1], p[2]) for p in sock_local if abs(p[0] - x_m) < tol] - plug_cs = [(p[1], p[2]) for p in plug_in_sock_local if abs(p[0] - x_m) < tol] - - if not sock_cs or not plug_cs: - s_str = "no data" if not sock_cs else "" - p_str = "no data" if not plug_cs else "" - print(f" {x_mm:7d} {s_str:>16s} {'':>16s} {p_str:>16s}") - continue - - sy = (min(p[0] for p in sock_cs)*1e3, max(p[0] for p in sock_cs)*1e3) - sz = (min(p[1] for p in sock_cs)*1e3, max(p[1] for p in sock_cs)*1e3) - py = (min(p[0] for p in plug_cs)*1e3, max(p[0] for p in plug_cs)*1e3) - pz = (min(p[1] for p in plug_cs)*1e3, max(p[1] for p in plug_cs)*1e3) - - fits_y = py[0] >= sy[0] and py[1] <= sy[1] - fits_z = pz[0] >= sz[0] and pz[1] <= sz[1] - fits = "YES" if fits_y and fits_z else "NO" - - print(f" {x_mm:7d} [{sy[0]:6.2f},{sy[1]:6.2f}] [{sz[0]:6.2f},{sz[1]:6.2f}] " - f"[{py[0]:6.2f},{py[1]:6.2f}] [{pz[0]:6.2f},{pz[1]:6.2f}] {fits:>6s}") - - print("\n" + "=" * 70) - print("SUMMARY") - print("=" * 70) - print(f"contact_offset was 0.02m (20mm) -- larger than the whole connector.") - print(f"Reduced to 0.001m (1mm) in env config.") - print(f"\nCopy these into displayport_basic_env_cfg.py or use 'i' command in interactive script:") - print(f" INSERTION_POSE_POS = ({plug_goal_pos[0]:.6f}, {plug_goal_pos[1]:.6f}, {plug_goal_pos[2]:.6f})") - print(f" INSERTION_POSE_ROT = ({best_rot[0]:.5f}, {best_rot[1]:.5f}, {best_rot[2]:.5f}, {best_rot[3]:.5f})") - - -if __name__ == "__main__": - main() diff --git a/scripts/environments/auto_insert_displayport_robot.py b/scripts/environments/auto_insert_displayport_robot.py deleted file mode 100644 index a3e38c1cb44e..000000000000 --- a/scripts/environments/auto_insert_displayport_robot.py +++ /dev/null @@ -1,341 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Automated DisplayPort plug insertion: robot IK-grasps plug then descends into socket. - -The environment setup (task, config overrides, grasp) is identical to -``step_displayport_robot.py``. Instead of manual control, the script runs an -autonomous descent trajectory with XY locking until the plug seats. - -Phases per trial: - 1. Reset — IK grasp positions arm, plug at z_clearance above socket. - 2. Settle — N hold steps to let the IK-solved arm stabilise. - 3. Descent — repeated z-action steps (negative = down) with XY locking. - Stops on success (Δz reaches mated position) or stall/timeout. - 4. Hold — a few steps at the final position for visual inspection. - -Usage: - ./isaaclab.sh -p scripts/environments/auto_insert_displayport_robot.py --num_envs 1 --viz kit - -Typical one-liner (faster descent, 3 trials): - ./isaaclab.sh -p scripts/environments/auto_insert_displayport_robot.py \\ - --num_envs 1 --viz kit --num_trials 3 --descent_action 1.0 --z_clearance 0.025 -""" - -import argparse -import sys - -import gymnasium as gym -import torch -import warp as wp - -import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config -from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( - compute_plug_pose, - compute_socket_root, -) -from isaaclab_tasks.contrib.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( - _GEOMETRY_POS, - _SOCKET_ROT, -) - -TASK = "Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0" - -# 1 / _ACTION_SCALE from task_space_env_cfg: converts metres of EEF error → action units. -_GAIN = 1.0 / 0.025 # hold-step gain (proportional only, no coupling issue) - -parser = argparse.ArgumentParser(description="Automated DisplayPort robot insertion.") -parser.add_argument("--num_envs", type=int, default=1) -parser.add_argument( - "--z_clearance", - type=float, - default=0.030, - help="Initial plug clearance above socket [m] (default 30 mm).", -) -parser.add_argument( - "--descent_action", - type=float, - default=0.5, - help="Z-action magnitude per step applied downward (default 0.5). Increase for faster descent.", -) -parser.add_argument( - "--settle_steps", - type=int, - default=30, - help="Hold steps after reset before descending (default 30).", -) -parser.add_argument( - "--max_steps", - type=int, - default=300, - help="Max descent steps before declaring timeout (default 300).", -) -parser.add_argument( - "--num_trials", - type=int, - default=1, - help="Number of insertion trials (each preceded by a reset).", -) -parser.add_argument( - "--stall_window", - type=int, - default=15, - help="Steps over which to measure progress for stall detection (default 15).", -) -parser.add_argument( - "--stall_threshold_mm", - type=float, - default=0.2, - help="Minimum Δz progress over stall_window to avoid stall detection [mm] (default 0.2).", -) -parser.add_argument( - "--seated_tolerance_mm", - type=float, - default=4.0, - help="Δz within this of mated position → success [mm] (default 4.0).", -) -parser.add_argument( - "--xy_kp", - type=float, - default=3.0, - help="Proportional gain multiplier for XY locking during descent (default 3.0 × base gain).", -) -parser.add_argument( - "--xy_ki", - type=float, - default=1.5, - help="Integral gain for XY locking during descent [action_units / (m·step)] (default 1.5). " - "Eliminates accumulated X drift from Jacobian coupling. Set 0 to disable.", -) -add_launcher_args(parser) -args_cli, hydra_args = parser.parse_known_args() -sys.argv = [sys.argv[0]] + hydra_args - - -# --------------------------------------------------------------------------- -# State helpers -# --------------------------------------------------------------------------- - - -def _get_eef_pos(env) -> torch.Tensor | None: - robot = env.unwrapped.scene["robot"] - try: - eef_idx = robot.find_bodies("flange")[0][0] - return robot.data.body_pos_w[0, eef_idx].cpu() - except Exception: - return None - - -def _get_plug_pos(env) -> torch.Tensor: - return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_pos_w)[0].cpu() - - -def _get_socket_pos(env) -> torch.Tensor: - return wp.to_torch(env.unwrapped.scene["dp_socket"].data.root_pos_w)[0].cpu() - - -def _dz_m(env) -> float: - """Plug root Z minus socket root Z in metres. Decreases as plug inserts.""" - return float(_get_plug_pos(env)[2] - _get_socket_pos(env)[2]) - - -def _print_state(env, *, step: int | None = None, tag: str = "") -> None: - eef = _get_eef_pos(env) - plug = _get_plug_pos(env) - sock = _get_socket_pos(env) - dz = (plug[2] - sock[2]) * 1e3 - prefix = f"[{step:3d}] " if step is not None else " " - eef_str = ( - f"EEF ({eef[0]*1e3:.1f}, {eef[1]*1e3:.1f}, {eef[2]*1e3:.1f}) " if eef is not None else "" - ) - print( - f" {prefix}{eef_str}" - f"Plug ({plug[0]*1e3:.1f}, {plug[1]*1e3:.1f}, {plug[2]*1e3:.1f}) " - f"Δz={dz:.2f} mm {tag}" - ) - - -# --------------------------------------------------------------------------- -# Step primitives -# --------------------------------------------------------------------------- - - -def _hold_step(env, actions: torch.Tensor, hold_pos: torch.Tensor | None) -> None: - """Step with a proportional action that drives EEF back to hold_pos.""" - step_action = torch.zeros(actions.shape[-1], device=actions.device) - eef = _get_eef_pos(env) - if hold_pos is not None and eef is not None: - err = hold_pos.to(actions.device) - eef.to(actions.device) - step_action[:3] += err * _GAIN - actions[:] = step_action - with torch.inference_mode(): - env.step(actions) - - -def _descent_step( - env, - actions: torch.Tensor, - xy_lock_ref: torch.Tensor | None, - z_action: float, - xy_integral: torch.Tensor | None, - kp: float, - ki: float, -) -> None: - """Step with z_action plus XY PI correction to cancel kinematic X-Z coupling. - - Proportional-only control (gain 40) can't fully cancel Jacobian cross-terms at each - step — error accumulates across steps, causing visible X drift. The integral term - drives the accumulated XY error to zero regardless of descent speed. - """ - step_action = torch.zeros(actions.shape[-1], device=actions.device) - step_action[2] = z_action - eef = _get_eef_pos(env) - if xy_lock_ref is not None and eef is not None: - xy_err = xy_lock_ref[:2].to(actions.device) - eef[:2].to(actions.device) - step_action[:2] += xy_err * kp - if xy_integral is not None and ki > 0.0: - xy_integral += xy_err - step_action[:2] += xy_integral * ki - actions[:] = step_action - with torch.inference_mode(): - env.step(actions) - - -# --------------------------------------------------------------------------- -# Main -# --------------------------------------------------------------------------- - - -def main(): - env_cfg, _ = resolve_task_config(TASK, "") - - with launch_simulation(env_cfg, args_cli): - env_cfg.scene.num_envs = args_cli.num_envs - if args_cli.device is not None: - env_cfg.sim.device = args_cli.device - - # Override plug starting height. - new_plug_root, new_plug_rot = compute_plug_pose( - _GEOMETRY_POS, _SOCKET_ROT, z_clearance=args_cli.z_clearance - ) - env_cfg.scene.dp_plug.init_state.pos = new_plug_root - env_cfg.scene.dp_plug.init_state.rot = new_plug_rot - - # Compute mated Δz for insertion detection. - mated_plug_root, _ = compute_plug_pose(_GEOMETRY_POS, _SOCKET_ROT, z_clearance=0.0) - socket_root = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) - mated_dz = mated_plug_root[2] - socket_root[2] # metres - seated_dz = mated_dz + args_cli.seated_tolerance_mm * 1e-3 - - print(f" Plug start: {args_cli.z_clearance*1e3:.0f} mm above socket") - print(f" Mated Δz target: {mated_dz*1e3:.2f} mm (success when Δz < {seated_dz*1e3:.2f} mm)") - - # Disable pose randomization — fixed geometry for reproducible tests. - zero_range = { - "x": [0.0, 0.0], "y": [0.0, 0.0], "z": [0.0, 0.0], - "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0], - } - env_cfg.events.randomize_socket_pose.params["pose_range"] = zero_range - if hasattr(env_cfg.events, "randomize_plug_pose"): - env_cfg.events.randomize_plug_pose.params["pose_range"] = zero_range - if hasattr(env_cfg.events, "reset_plug_curriculum"): - env_cfg.events.reset_plug_curriculum.params["at_goal_prob"] = 0.0 - env_cfg.events.reset_plug_curriculum.params["normal_pose_range"] = { - "x": [0.0, 0.0], "y": [0.0, 0.0], "z": [0.0, 0.0] - } - - # Inertial decoupling reduces (but does not eliminate) kinematic coupling. - # gravity_compensation stays False: robot links have disable_gravity=True in PhysX, - # so enabling compensation would push the arm upward against non-existent gravity. - if hasattr(env_cfg.actions, "arm_action") and hasattr( - env_cfg.actions.arm_action, "controller_cfg" - ): - env_cfg.actions.arm_action.controller_cfg.inertial_dynamics_decoupling = True - - env = gym.make(TASK, cfg=env_cfg) - device = env.unwrapped.device - actions = torch.zeros(env.action_space.shape, device=device) - z_action = -abs(args_cli.descent_action) - xy_kp = _GAIN * args_cli.xy_kp - xy_ki = args_cli.xy_ki - results: list[tuple[str, float]] = [] - - for trial in range(args_cli.num_trials): - print(f"\n{'='*50}") - print(f"Trial {trial + 1} / {args_cli.num_trials}") - print(f"{'='*50}") - - # --- Reset --- - env.reset() - actions[:] = 0.0 - _print_state(env, tag="(post-reset)") - - # --- Phase 1: Settle --- - print(f" Settling ({args_cli.settle_steps} steps)...") - hold_pos = _get_eef_pos(env) - for _ in range(args_cli.settle_steps): - _hold_step(env, actions, hold_pos) - hold_pos = _get_eef_pos(env) - _print_state(env, tag="(settled)") - - # --- Phase 2: Descent --- - print(f" Descending (z_action={z_action:.2f}, xy_kp={xy_kp:.1f}, xy_ki={xy_ki:.2f}, max {args_cli.max_steps} steps)...") - xy_ref = _get_eef_pos(env) # XY target held constant throughout descent - xy_integral = torch.zeros(2, device=device) # reset integrator each trial - dz_history: list[float] = [] - success = stall = False - final_step = 0 - - for step in range(args_cli.max_steps): - _descent_step(env, actions, xy_ref, z_action, xy_integral, xy_kp, xy_ki) - cur_dz = _dz_m(env) - dz_history.append(cur_dz) - final_step = step + 1 - - if (step + 1) % 10 == 0: - _print_state(env, step=step + 1) - - # Success: plug reached the mated position within tolerance. - if cur_dz <= seated_dz: - success = True - break - - # Stall: not enough downward progress over the last stall_window steps. - w = args_cli.stall_window - if len(dz_history) >= w: - progress = (dz_history[-w] - dz_history[-1]) * 1e3 # mm - if progress < args_cli.stall_threshold_mm: - stall = True - break - - # --- Phase 3: Hold for inspection --- - final_eef = _get_eef_pos(env) - for _ in range(30): - _hold_step(env, actions, final_eef) - - cur_dz = _dz_m(env) - gap_mm = (cur_dz - mated_dz) * 1e3 - outcome = "SUCCESS" if success else ("STALL" if stall else "TIMEOUT") - print(f"\n {outcome} at step {final_step}") - _print_state(env, tag=f"({outcome})") - print(f" Final Δz: {cur_dz*1e3:.2f} mm | gap to mated: {gap_mm:.2f} mm") - results.append((outcome, cur_dz)) - - # --- Summary --- - print(f"\n{'='*50}") - print(f"Summary: {args_cli.num_trials} trial(s)") - print(f"{'='*50}") - successes = sum(1 for r, _ in results if r == "SUCCESS") - print(f" {successes}/{args_cli.num_trials} successful") - for i, (r, dz) in enumerate(results): - gap = (dz - mated_dz) * 1e3 - print(f" Trial {i+1:2d}: {r:8s} Δz={dz*1e3:.2f} mm gap={gap:+.2f} mm") - - env.close() - - -if __name__ == "__main__": - main() diff --git a/scripts/environments/debug_policy_insertion.py b/scripts/environments/debug_policy_insertion.py deleted file mode 100644 index 95210bfddf59..000000000000 --- a/scripts/environments/debug_policy_insertion.py +++ /dev/null @@ -1,255 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Policy insertion debugger — answers two questions per step: - - 1. Is the policy actually trying to insert? - → Logs raw 7-joint action vector, norm, and EEF Z motion (ΔEEF_Z). - If ACT_NORM is large but ΔEEF_Z ≈ 0 the arm controller isn't tracking. - If ACT_NORM is tiny, the policy is outputting near-zero actions. - - 2. Is a collision preventing insertion? - → Compares ΔEEF_Z (EEF moved down) vs ΔPLUG_Z (plug moved down). - If EEF is descending but plug is NOT → collision blocking the plug. - If both ≈ 0 → policy is idle or arm is stalled. - -Output columns (printed every --log_interval steps): - STEP : simulation step number - ACT : sum |joint_delta| across 7 arm joints (policy activity) - dEEF_Z : EEF Z change since last log [mm, negative = descending] - dPLUG_Z : plug Z change since last log [mm, negative = toward socket] - DZ : current plug-socket delta Z [mm] — decreasing = inserting - VZ : plug Z velocity [mm/s, negative = moving toward socket] - STATUS : INSERTING / BLOCKED / STALL / IDLE - -Usage (same args as play.py): - python scripts/environments/debug_policy_insertion.py \\ - --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0 \\ - --num_envs 1 \\ - --checkpoint logs/rsl_rl/dp_insertion_rizon4s/2026-06-11_22-49-29/model_100.pt \\ - --visualizer kit -""" - -import argparse -import contextlib -import importlib.metadata as metadata -import os -import sys - -import gymnasium as gym -import torch -import warp as wp -from packaging import version -from rsl_rl.runners import DistillationRunner, OnPolicyRunner - -from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg -from isaaclab.utils.assets import retrieve_file_path - -from isaaclab_rl.rsl_rl import ( - RslRlBaseRunnerCfg, - RslRlVecEnvWrapper, - handle_deprecated_rsl_rl_cfg, -) - -import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils import add_launcher_args, get_checkpoint_path, launch_simulation -from isaaclab_tasks.utils.hydra import hydra_task_config - -sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "reinforcement_learning", "rsl_rl")) -import cli_args # isort: skip # noqa: E402 - -with contextlib.suppress(ImportError): - import isaaclab_tasks_experimental # noqa: F401 - -# --------------------------------------------------------------------------- -# CLI -# --------------------------------------------------------------------------- - -parser = argparse.ArgumentParser(description="Policy insertion debugger.") -parser.add_argument("--num_envs", type=int, default=1) -parser.add_argument("--task", type=str, required=True) -parser.add_argument("--agent", type=str, default="rsl_rl_cfg_entry_point") -parser.add_argument("--log_interval", type=int, default=5, - help="Print diagnostics every N steps (default 5).") -parser.add_argument("--max_steps", type=int, default=500, - help="Max steps per episode (default 500).") -parser.add_argument("--num_episodes", type=int, default=3, - help="Number of episodes to run (default 3).") -parser.add_argument("--action_active_threshold", type=float, default=0.05, - help="Action norm below this → policy flagged IDLE (default 0.05).") -parser.add_argument("--block_threshold_mm", type=float, default=0.1, - help="ΔEEF_Z < -threshold but ΔPLUG_Z > -threshold → BLOCKED (default 0.1 mm).") -cli_args.add_rsl_rl_args(parser) -add_launcher_args(parser) -args_cli, remaining_args = parser.parse_known_args() -sys.argv = [sys.argv[0]] + remaining_args - -installed_version = metadata.version("rsl-rl-lib") - - -# --------------------------------------------------------------------------- -# State helpers -# --------------------------------------------------------------------------- - - -def _eef_pos(env) -> torch.Tensor | None: - robot = env.unwrapped.scene["robot"] - try: - idx = robot.find_bodies("flange")[0][0] - return robot.data.body_pos_w[0, idx].cpu() - except Exception: - return None - - -def _plug_pos(env) -> torch.Tensor: - return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_pos_w)[0].cpu() - - -def _plug_vel_z(env) -> float: - return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_lin_vel_w)[0, 2].cpu().item() - - -def _socket_pos(env) -> torch.Tensor: - return wp.to_torch(env.unwrapped.scene["dp_socket"].data.root_pos_w)[0].cpu() - - -def _classify(act_norm, d_eef_z, d_plug_z, threshold_mm, active_thresh) -> str: - if act_norm < active_thresh: - return "IDLE " - eef_descending = d_eef_z < -threshold_mm - plug_descending = d_plug_z < -threshold_mm - if eef_descending and plug_descending: - return "INSERT " - if eef_descending and not plug_descending: - return "BLOCKED" # arm moving but plug isn't → collision - return "STALL " - - -# --------------------------------------------------------------------------- -# Main -# --------------------------------------------------------------------------- - - -@hydra_task_config(args_cli.task, args_cli.agent) -def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlBaseRunnerCfg): - with launch_simulation(env_cfg, args_cli): - env_cfg.scene.num_envs = args_cli.num_envs - if args_cli.device is not None: - env_cfg.sim.device = args_cli.device - - agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli) - agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, installed_version) - - # Force single env for readable per-env diagnostics - env_cfg.scene.num_envs = 1 - - task_name = args_cli.task.split(":")[-1].replace("-Play", "") - log_root_path = os.path.abspath(os.path.join("logs", "rsl_rl", agent_cfg.experiment_name)) - - if args_cli.checkpoint: - resume_path = retrieve_file_path(args_cli.checkpoint) - else: - resume_path = get_checkpoint_path(log_root_path, agent_cfg.load_run, agent_cfg.load_checkpoint) - - print(f"\n[DEBUG] Checkpoint: {resume_path}") - - env_cfg.log_dir = os.path.dirname(resume_path) - env = gym.make(args_cli.task, cfg=env_cfg) - - if isinstance(env.unwrapped.cfg, DirectMARLEnvCfg): - from isaaclab.envs import multi_agent_to_single_agent - env = multi_agent_to_single_agent(env) - - env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions) - - if agent_cfg.class_name == "OnPolicyRunner": - runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=None, device=agent_cfg.device) - elif agent_cfg.class_name == "DistillationRunner": - runner = DistillationRunner(env, agent_cfg.to_dict(), log_dir=None, device=agent_cfg.device) - else: - raise ValueError(f"Unsupported runner: {agent_cfg.class_name}") - - runner.load(resume_path) - policy = runner.get_inference_policy(device=env.unwrapped.device) - - hdr = f"{'STEP':>5} | {'ACT':>8} | {'joints (7)':^55} | {'dEEF_Z':>8} | {'dPLUG_Z':>8} | {'DZ':>8} | {'VZ':>8} | STATUS" - print(f"\n{hdr}") - print("-" * len(hdr)) - - try: - for episode in range(args_cli.num_episodes): - print(f"\n{'='*60} Episode {episode + 1}/{args_cli.num_episodes} {'='*60}") - - obs = env.get_observations() - prev_eef_z = None - prev_plug_z = None - - for step in range(args_cli.max_steps): - with torch.inference_mode(): - actions = policy(obs) - obs, _, dones, _ = env.step(actions) - if version.parse(installed_version) >= version.parse("4.0.0"): - policy.reset(dones) - - if (step + 1) % args_cli.log_interval != 0: - # Still track positions every step for accurate deltas - raw = env.unwrapped - cur_eef = _eef_pos(raw) - cur_plug = _plug_pos(raw) - if prev_eef_z is None and cur_eef is not None: - prev_eef_z = cur_eef[2].item() * 1e3 - if prev_plug_z is None: - prev_plug_z = cur_plug[2].item() * 1e3 - continue - - raw = env.unwrapped - act_cpu = actions[0].cpu() - act_norm = act_cpu.abs().sum().item() - - cur_eef = _eef_pos(raw) - cur_plug = _plug_pos(raw) - cur_sock = _socket_pos(raw) - vz = _plug_vel_z(raw) - - eef_z = cur_eef[2].item() * 1e3 if cur_eef is not None else float("nan") - plug_z = cur_plug[2].item() * 1e3 - sock_z = cur_sock[2].item() * 1e3 - dz = plug_z - sock_z - - d_eef_z = (eef_z - prev_eef_z) if prev_eef_z is not None else 0.0 - d_plug_z = (plug_z - prev_plug_z) if prev_plug_z is not None else 0.0 - prev_eef_z = eef_z - prev_plug_z = plug_z - - status = _classify( - act_norm, d_eef_z, d_plug_z, - args_cli.block_threshold_mm, - args_cli.action_active_threshold, - ) - - j_str = " ".join(f"{v:+.3f}" for v in act_cpu.tolist()) - print( - f" {step+1:4d} | {act_norm:8.4f} | [{j_str}] | " - f"{d_eef_z:+8.2f} | {d_plug_z:+8.2f} | {dz:8.2f} | {vz*1e3:+8.2f} | {status}" - ) - - # Annotate notable events - if act_norm < args_cli.action_active_threshold: - print(f" *** POLICY IDLE — action norm {act_norm:.4f} ***") - if status == "BLOCKED": - print(f" *** COLLISION — EEF moved {d_eef_z:+.2f} mm but plug moved {d_plug_z:+.2f} mm ***") - - if dones.any(): - print(f" Episode terminated at step {step+1}") - break - - except KeyboardInterrupt: - pass - - env.close() - - -if __name__ == "__main__": - main() diff --git a/scripts/environments/step_displayport.py b/scripts/environments/step_displayport.py deleted file mode 100644 index 95a25fa55b05..000000000000 --- a/scripts/environments/step_displayport.py +++ /dev/null @@ -1,515 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Interactive runner for DisplayPort basic drop test. - -Usage: - ./isaaclab.sh -p scripts/environments/step_displayport.py --num_envs 1 --viz kit - -The simulation runs continuously at a slow rate. Commands are read -from stdin in a non-blocking way so the GUI stays fully interactive -(zoom, pan, orbit all work normally). - -Commands (type at the prompt, then press Enter): - x/y/z move plug by metres along that axis (e.g. "x 0.01") - p print current plug & socket positions - g toggle gravity on the plug (disable to position it freely) - r reset scene to initial state - f fast mode (normal sim speed) - s slow mode (default — pauses between steps) - q quit -""" - -import argparse -import select -import sys -import time - -import gymnasium as gym -import torch -import warp as wp - -import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config - -TASK = "Isaac-Deploy-DisplayportBasic-v0" - -# Full-insert pose (geometrically correct): overmold on the socket face, blade -# ~11 mm into the cavity. NOTE: not yet DYNAMICALLY stable — the plug's thin shell -# walls (Body2/Body3) and filled overmold recess have poor SDF collision, so under -# physics it floats up / topples. Use `i` then `k` (freeze/kinematic) to hold this -# pose for visualization until the plug colliders are re-authored (bake phase). -# Rotation is (w, x, y, z). -INSERTION_POSE_POS = (0.0, 0.0, 0.2096) -INSERTION_POSE_ROT = (0.70711, 0.70711, 0.0, 0.0) - -parser = argparse.ArgumentParser(description="Interactive DisplayPort drop test.") -parser.add_argument("--num_envs", type=int, default=1) -parser.add_argument( - "--step_delay", type=float, default=0.5, help="Seconds between physics steps in slow mode (default 0.5)." -) -add_launcher_args(parser) -args_cli, hydra_args = parser.parse_known_args() -sys.argv = [sys.argv[0]] + hydra_args - -HELP = """ -=== Interactive plug positioning (GUI stays responsive) === - x → move plug along X (e.g. "x 0.01" or "x -0.005") - y → move plug along Y - z → move plug along Z - rx → rotate plug about world X (e.g. "rx 90") - ry → rotate plug about world Y - rz → rotate plug about world Z - p → print plug & socket positions - c → inspect collision mesh types on all prims - t → show active contact points (which bodies are colliding & where) - d → disable collision on a socket body (e.g. "d Body8") - e → enable collision on a socket body (e.g. "e Body8") - h → toggle visibility of a socket body (e.g. "h Body4") - i → teleport plug to computed insertion pose (gravity off) - g → toggle gravity on plug (off = free positioning) - k → freeze/unfreeze plug (toggle kinematic — stops all movement) - r → reset scene - f → fast mode (full speed) - s → slow mode (paused between steps, default) - q → quit - -Simulation runs continuously — use mouse in the Kit window to -zoom / pan / orbit freely. -""" - - -def _get_plug(env): - return env.unwrapped.scene["dp_plug"] - - -def _get_socket(env): - return env.unwrapped.scene["dp_socket"] - - -def _print_poses(env): - plug = _get_plug(env) - sock = _get_socket(env) - plug_pos = wp.to_torch(plug.data.root_pos_w)[0].cpu() - plug_rot = wp.to_torch(plug.data.root_quat_w)[0].cpu() - sock_pos = wp.to_torch(sock.data.root_pos_w)[0].cpu() - sock_rot = wp.to_torch(sock.data.root_quat_w)[0].cpu() - print(f" Plug pos={plug_pos.tolist()} rot={plug_rot.tolist()}") - print(f" Socket pos={sock_pos.tolist()} rot={sock_rot.tolist()}") - - -def _move_plug(env, axis: int, delta: float): - """Teleport plug by *delta* metres along the given axis (0=x, 1=y, 2=z).""" - plug = _get_plug(env) - pos = wp.to_torch(plug.data.root_pos_w).clone() - quat = wp.to_torch(plug.data.root_quat_w).clone() - pos[0, axis] += delta - plug.write_root_pose_to_sim(torch.cat([pos, quat], dim=-1)) - - -def _rotate_plug(env, axis: int, deg: float): - """Rotate plug by *deg* degrees about the given WORLD axis (0=x, 1=y, 2=z).""" - import math - - plug = _get_plug(env) - pos = wp.to_torch(plug.data.root_pos_w).clone() - q = wp.to_torch(plug.data.root_quat_w).clone()[0] # (w, x, y, z) - half = math.radians(deg) / 2.0 - d = [math.cos(half), 0.0, 0.0, 0.0] - d[axis + 1] = math.sin(half) - dq = torch.tensor(d, device=q.device, dtype=q.dtype) - w1, x1, y1, z1 = dq - w2, x2, y2, z2 = q - # world-frame rotation: new = dq (x) q - new = torch.tensor( - [ - w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, - w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, - w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, - w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, - ], - device=q.device, - dtype=q.dtype, - ).unsqueeze(0) - plug.write_root_pose_to_sim(torch.cat([pos, new], dim=-1)) - - -def _toggle_gravity(env): - """Toggle gravity on the plug rigid body.""" - from pxr import PhysxSchema - - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - plug_prim = stage.GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") - try: - physx_rb = PhysxSchema.PhysxRigidBodyAPI(plug_prim) - cur = physx_rb.GetDisableGravityAttr().Get() - physx_rb.GetDisableGravityAttr().Set(not cur) - state = "OFF" if not cur else "ON" - except Exception: - state = "toggle failed" - print(f" Plug gravity: {state}") - - -def _set_gravity(env, disable: bool): - """Explicitly set gravity on the plug.""" - from pxr import PhysxSchema - - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - plug_prim = stage.GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") - try: - physx_rb = PhysxSchema.PhysxRigidBodyAPI(plug_prim) - physx_rb.GetDisableGravityAttr().Set(disable) - except Exception: - pass - - -def _freeze_plug(env): - """Toggle kinematic mode on the plug to freeze/unfreeze it in place.""" - from pxr import UsdPhysics - - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - plug_prim = stage.GetPrimAtPath("/World/envs/env_0/DisplayPortPlug") - rb = UsdPhysics.RigidBodyAPI(plug_prim) - kinematic_attr = rb.GetKinematicEnabledAttr() - cur = kinematic_attr.Get() if kinematic_attr.IsValid() else False - kinematic_attr.Set(not cur) - if not cur: - plug = _get_plug(env) - zeros = torch.zeros(1, 3, device=wp.to_torch(plug.data.root_pos_w).device) - plug.write_root_velocity_to_sim(torch.cat([zeros, zeros], dim=-1)) - state = "FROZEN (kinematic)" if not cur else "UNFROZEN (dynamic)" - print(f" Plug: {state}") - - -def _insert_plug(env): - """Teleport plug to the computed insertion pose with gravity disabled.""" - _set_gravity(env, disable=True) - plug = _get_plug(env) - cur_pos = wp.to_torch(plug.data.root_pos_w).clone() - pose_vals = list(INSERTION_POSE_POS) + list(INSERTION_POSE_ROT) - pose = cur_pos.new_tensor(pose_vals).unsqueeze(0) - plug.write_root_pose_to_sim(pose) - zeros = torch.zeros_like(cur_pos) - plug.write_root_velocity_to_sim(torch.cat([zeros, zeros], dim=-1)) - print(" Plug teleported to insertion pose (gravity OFF).") - _print_poses(env) - - -def _inspect_collisions(env): - """Walk the prim tree for plug and socket and print collision mesh info.""" - from pxr import Usd, UsdGeom, UsdPhysics - - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - for label, path in [ - ("PLUG", "/World/envs/env_0/DisplayPortPlug"), - ("SOCKET", "/World/envs/env_0/DisplayPortSocket"), - ]: - print(f"\n === {label}: {path} ===") - root = stage.GetPrimAtPath(path) - if not root.IsValid(): - print(" (prim not found)") - continue - for prim in Usd.PrimRange(root): - ppath = str(prim.GetPath()) - ptype = prim.GetTypeName() - is_mesh = prim.IsA(UsdGeom.Mesh) - has_col = prim.HasAPI(UsdPhysics.CollisionAPI) - has_mesh_col = prim.HasAPI(UsdPhysics.MeshCollisionAPI) - has_rb = prim.HasAPI(UsdPhysics.RigidBodyAPI) - schemas_list = prim.GetAppliedSchemas() - - extras = [] - if has_rb: - extras.append("RigidBody") - if has_col: - col_enabled = prim.GetAttribute("physics:collisionEnabled") - enabled_str = "ON" if (not col_enabled.IsValid() or col_enabled.Get() != False) else "OFF" - extras.append(f"Collision({enabled_str})") - if has_mesh_col: - approx_attr = prim.GetAttribute("physics:approximation") - approx = approx_attr.Get() if approx_attr.IsValid() else "N/A" - extras.append(f"MeshCollision(approx={approx})") - - physx_schemas = [s for s in schemas_list if "Physx" in s and "Collision" in s] - if physx_schemas: - extras.append(f"PhysX={physx_schemas}") - - tag = " [MESH]" if is_mesh else "" - apis = ", ".join(extras) if extras else "none" - if is_mesh and has_col: - print(f" {ppath}{tag} apis=[{apis}]") - print() - - -def _toggle_body_collision(env, body_name: str, enable: bool): - """Enable or disable collision on a specific socket body by name.""" - from pxr import Usd, UsdGeom, UsdPhysics - - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - socket_path = "/World/envs/env_0/DisplayPortSocket" - root = stage.GetPrimAtPath(socket_path) - if not root.IsValid(): - print(" Socket prim not found.") - return - - found = False - for prim in Usd.PrimRange(root): - parent_name = prim.GetParent().GetName() if prim.GetParent() else "" - if parent_name == body_name and prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI): - col_attr = prim.GetAttribute("physics:collisionEnabled") - if not col_attr.IsValid(): - col_attr = prim.CreateAttribute( - "physics:collisionEnabled", - prim.GetStage() - .GetRootLayer() - .GetPropertyAtPath(prim.GetPath().AppendProperty("physics:collisionEnabled")) - .typeName - if False - else None, - ) - prim.GetAttribute("physics:collisionEnabled").Set(enable) - state = "ENABLED" if enable else "DISABLED" - print(f" {body_name}: collision {state} on {prim.GetPath()}") - found = True - if not found: - print(f" Body '{body_name}' not found in socket. Available bodies:") - bodies = set() - for prim in Usd.PrimRange(root): - if prim.IsA(UsdGeom.Mesh) and prim.HasAPI(UsdPhysics.CollisionAPI): - bodies.add(prim.GetParent().GetName()) - print(f" {', '.join(sorted(bodies))}") - - -def _toggle_body_visibility(env, body_name: str): - """Toggle visibility of a socket body to visually identify it.""" - from pxr import Usd, UsdGeom - - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - socket_path = "/World/envs/env_0/DisplayPortSocket" - root = stage.GetPrimAtPath(socket_path) - if not root.IsValid(): - print(" Socket prim not found.") - return - - found = False - for prim in Usd.PrimRange(root): - parent_name = prim.GetParent().GetName() if prim.GetParent() else "" - if parent_name == body_name and prim.IsA(UsdGeom.Mesh): - imageable = UsdGeom.Imageable(prim) - cur = imageable.ComputeVisibility() - if cur == UsdGeom.Tokens.invisible: - imageable.MakeVisible() - print(f" {body_name}: now VISIBLE") - else: - imageable.MakeInvisible() - print(f" {body_name}: now HIDDEN") - found = True - break - if not found: - print(f" Body '{body_name}' not found.") - - -def _show_contacts(env): - """Show contact forces on the plug using Isaac Lab's built-in data.""" - import omni.physx - from carb import Float3 - - plug = _get_plug(env) - plug_pos = wp.to_torch(plug.data.root_pos_w)[0].cpu().tolist() - - # Try various ways to get contact force - force_found = False - try: - # With activate_contact_sensors=True, this should work - force_data = plug.data.net_forces_w - if force_data is not None: - net_force = wp.to_torch(force_data)[0].cpu().tolist() - force_mag = (net_force[0] ** 2 + net_force[1] ** 2 + net_force[2] ** 2) ** 0.5 - print( - f" Plug net force: ({net_force[0]:.4f}, {net_force[1]:.4f}, {net_force[2]:.4f}) N |F|={force_mag:.4f} N" - ) - force_found = True - if force_mag > 1e-6: - fx, fy, fz = net_force[0] / force_mag, net_force[1] / force_mag, net_force[2] / force_mag - print(f" → Force direction: ({fx:.3f}, {fy:.3f}, {fz:.3f})") - if fz > 0.5: - print(" → Plug is being pushed UPWARD (blocked from below)") - if abs(fx) > 0.3 or abs(fy) > 0.3: - print(" → Plug has lateral contact (misaligned)") - except Exception: - pass - - if not force_found: - # List available data attributes for debugging - try: - data_attrs = [ - a for a in dir(plug.data) if not a.startswith("_") and ("force" in a.lower() or "contact" in a.lower()) - ] - print(f" Available force/contact attrs: {data_attrs}") - except Exception: - pass - - print(f"\n Plug pos: ({plug_pos[0] * 1e3:.2f}, {plug_pos[1] * 1e3:.2f}, {plug_pos[2] * 1e3:.2f}) mm") - - # Overlap sphere query with correct API - try: - physx_sq = omni.physx.get_physx_scene_query_interface() - - hits = [] - - def report_hit(hit): - hits.append(str(hit.rigid_body)) - return True - - pos = Float3(plug_pos[0], plug_pos[1], plug_pos[2]) - physx_sq.overlap_sphere(0.02, pos, report_hit, False) - - if hits: - print("\n Bodies within 20mm of plug center:") - for h in hits: - print(f" → {h}") - else: - print("\n No bodies found within 20mm sphere of plug center.") - except Exception as e: - print(f"\n Overlap query failed: {e}") - - print("\n TIP: To identify the blocker, try:") - print(" 1. Freeze plug with 'k'") - print(" 2. Disable bodies one at a time: 'd Body4', 'd Body5', etc.") - print(" 3. Unfreeze with 'k' — if plug moves further, that body was blocking") - - -def _check_stdin(): - """Return a line from stdin if available, else None (non-blocking).""" - if select.select([sys.stdin], [], [], 0.0)[0]: - return sys.stdin.readline().strip() - return None - - -def _handle_command(raw, env): - """Process one command. Returns True if should quit.""" - cmd = raw.lower().split() - if not cmd: - return False - - axis_map = {"x": 0, "y": 1, "z": 2} - - if cmd[0] == "q": - return True - elif cmd[0] == "i": - _insert_plug(env) - elif cmd[0] == "p": - _print_poses(env) - elif cmd[0] == "c": - _inspect_collisions(env) - elif cmd[0] == "t": - _show_contacts(env) - elif cmd[0] == "d": - if len(cmd) < 2: - print(" Usage: d (e.g. 'd Body8')") - else: - _toggle_body_collision(env, raw.split()[1], enable=False) - elif cmd[0] == "e": - if len(cmd) < 2: - print(" Usage: e (e.g. 'e Body8')") - else: - _toggle_body_collision(env, raw.split()[1], enable=True) - elif cmd[0] == "h": - if len(cmd) < 2: - print(" Usage: h (toggle visibility, e.g. 'h Body4')") - else: - _toggle_body_visibility(env, raw.split()[1]) - elif cmd[0] == "g": - _toggle_gravity(env) - elif cmd[0] == "k": - _freeze_plug(env) - elif cmd[0] == "r": - env.reset() - print(" Scene reset.") - _print_poses(env) - elif cmd[0] == "f": - print(" Fast mode.") - return "fast" - elif cmd[0] == "s": - print(" Slow mode.") - return "slow" - elif cmd[0] in ("rx", "ry", "rz"): - if len(cmd) < 2: - print(f" Usage: {cmd[0]} (rotate plug about world {cmd[0][1]}-axis, e.g. {cmd[0]} 90)") - else: - try: - _rotate_plug(env, {"rx": 0, "ry": 1, "rz": 2}[cmd[0]], float(cmd[1])) - _print_poses(env) - except ValueError: - print(f" Invalid value: {cmd[1]}") - elif cmd[0] in axis_map: - if len(cmd) < 2: - print(f" Usage: {cmd[0]} (e.g. {cmd[0]} 0.01)") - else: - try: - delta = float(cmd[1]) - _move_plug(env, axis_map[cmd[0]], delta) - _print_poses(env) - except ValueError: - print(f" Invalid value: {cmd[1]}") - else: - print(" Unknown command. Type 'q' to quit, 'p' for poses, 'x/y/z ' to move plug.") - return False - - -def main(): - env_cfg, _ = resolve_task_config(TASK, "") - - with launch_simulation(env_cfg, args_cli): - env_cfg.scene.num_envs = args_cli.num_envs - env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device - - env = gym.make(TASK, cfg=env_cfg) - env.reset() - - actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) - step_count = 0 - slow_mode = True - step_delay = args_cli.step_delay - - print(HELP) - _print_poses(env) - print(f"\nSimulation running (slow mode, {step_delay}s/step). Type commands anytime.\n") - - while True: - line = _check_stdin() - if line is not None: - result = _handle_command(line, env) - if result is True: - break - if result == "fast": - slow_mode = False - elif result == "slow": - slow_mode = True - - with torch.inference_mode(): - env.step(actions) - step_count += 1 - - if slow_mode: - time.sleep(step_delay) - - env.close() - - -if __name__ == "__main__": - main() diff --git a/scripts/environments/step_displayport_robot.py b/scripts/environments/step_displayport_robot.py deleted file mode 100644 index d68bce63714f..000000000000 --- a/scripts/environments/step_displayport_robot.py +++ /dev/null @@ -1,364 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Interactive insertion tester: Flexiv Rizon 4S holding a DisplayPort plug, driven by user into socket. - -Usage: - ./isaaclab.sh -p scripts/environments/step_displayport_robot.py --num_envs 1 --viz kit - -How it works: - At reset, the existing IK-grasp event positions the robot arm so its gripper holds the - DisplayPort plug, which starts ~68 mm above the socket opening with perfect X/Y alignment. - The user then sends OSC (task-space) actions to drive the EEF downward. The OSC controller - converts those into joint torques that apply a real continuous force — the robot pushes the - plug in, it does not teleport. - - The gripper stays closed automatically via PD actuator stiffness (no gripper action needed). - - Socket pose randomization is disabled so the geometry is fixed and reproducible. - -Action convention (insertion axis = world -Z): - z -1.0 50 → push down for 50 steps (burst mode — runs immediately, no per-step delay) - z -1.0 → set persistent z-action (keeps applying every loop iteration) - 0 → stop / zero all actions - -Why burst mode matters: - The OSC impedance controller (stiffness=300 N/m) only achieves ~10% of the target offset per - 8-physics-sub-step call. Each env.step() moves the EEF ~2-3 mm at action magnitude 1.0. - Burst mode runs N steps back-to-back so a single command produces noticeable travel. - Suggested starting point: "z -1.0 30" (≈60–90 mm of EEF travel, enough to reach the socket). - -Commands (type at the prompt, then press Enter): - z [n] set EEF z-action (no n=persistent, n given=burst n steps) e.g. "z -1.0 30" - x [n] set EEF x-action - y [n] set EEF y-action - rx/ry/rz [n] rotation actions - 0 zero ALL actions (stop) - a print current action vector - p print EEF, plug, socket positions and insertion depth - r reset scene (re-runs IK grasp) - f fast mode (full sim speed, no per-step delay) - s slow mode (default, 0.1 s/step between persistent steps) - q quit - -Action values are not clamped — use magnitudes > 1 for faster motion (e.g. "z -3.0 20"). -""" - -import argparse -import select -import sys -import time - -import gymnasium as gym -import torch -import warp as wp - -import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config -from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( - compute_plug_pose, -) -from isaaclab_tasks.contrib.deploy.cable_insertion.config.displayport_rizon_4s.joint_pos_env_cfg import ( - _GEOMETRY_POS, - _SOCKET_ROT, -) -from isaaclab_tasks.contrib.deploy.cable_insertion.config.displayport_rizon_4s.task_space_env_cfg import ( - _INSERTION_LENGTH, -) - -TASK = "Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0" - -parser = argparse.ArgumentParser(description="Interactive DisplayPort robot insertion test.") -parser.add_argument("--num_envs", type=int, default=1) -parser.add_argument("--step_delay", type=float, default=0.1, help="Seconds between steps in slow mode.") -parser.add_argument("--z_clearance", type=float, default=0.015, help="Initial plug-to-socket clearance in metres (default 15 mm). Negative = start inside socket.") -parser.add_argument("--start_seated", action="store_true", help="Spawn plug inside socket. Use --insert_depth to control how far in (default 3 mm).") -parser.add_argument("--insert_depth", type=float, default=0.003, help="Insertion depth in metres when using --start_seated (default 3 mm).") -parser.add_argument("--show_colliders", action="store_true", help="Overlay collision meshes in the viewport.") -add_launcher_args(parser) -args_cli, hydra_args = parser.parse_known_args() -sys.argv = [sys.argv[0]] + hydra_args - -_AXIS_MAP = {"x": 0, "y": 1, "z": 2, "rx": 3, "ry": 4, "rz": 5} - -HELP = """ -=== DisplayPort Robot Insertion Test === -Robot holds plug via IK grasp. Drive it into the socket with OSC actions. - - z [n] → EEF z-action, negative=down (e.g. "z -1.0 30" = 30-step burst) - x [n] → EEF x-action (lateral) - y [n] → EEF y-action (lateral) - rx/ry/rz [n] → EEF rotation actions - 0 → zero all actions (stop) - a → print current action vector - p → print EEF, plug, socket positions + insertion depth - r → reset (re-runs IK grasp, plug back to start) - f → fast mode (full speed) - s → slow mode (default, 0.1 s/step between persistent steps) - q → quit - -With [n]: burst — runs n steps immediately (no per-step delay), then stops. -Without [n]: persistent — action keeps applying every loop iteration until '0'. -Suggested start: "z -1.0 30" (~60-90 mm of EEF travel downward). -Use --start_seated to spawn plug already inserted for in-socket movement testing. -""" - - -# --------------------------------------------------------------------------- -# Helpers -# --------------------------------------------------------------------------- - - -def _get_eef_pos(env): - robot = env.unwrapped.scene["robot"] - try: - eef_idx = robot.find_bodies("flange")[0][0] - return robot.data.body_pos_w[0, eef_idx].cpu() - except Exception: - return None - - -def _get_plug_pos(env): - return wp.to_torch(env.unwrapped.scene["dp_plug"].data.root_pos_w)[0].cpu() - - -def _get_socket_pos(env): - return wp.to_torch(env.unwrapped.scene["dp_socket"].data.root_pos_w)[0].cpu() - - -def _print_poses(env): - eef = _get_eef_pos(env) - plug = _get_plug_pos(env) - sock = _get_socket_pos(env) - - if eef is not None: - print(f" EEF (flange): ({eef[0]*1e3:.1f}, {eef[1]*1e3:.1f}, {eef[2]*1e3:.1f}) mm") - print(f" Plug root: ({plug[0]*1e3:.2f}, {plug[1]*1e3:.2f}, {plug[2]*1e3:.2f}) mm") - print(f" Socket root: ({sock[0]*1e3:.2f}, {sock[1]*1e3:.2f}, {sock[2]*1e3:.2f}) mm") - - # Insertion depth proxy: plug z - socket z. - # Insertion axis = world -Z, so this delta decreases as plug enters socket. - # SOCKET_INSERTION_OFFSET = [0.0375, 0, 0] in socket-local X, which maps to world -Z - # with the default socket rotation. So the socket slot opening is ~37.5 mm above sock root in -Z. - # This is an approximate metric; it captures the trend clearly. - dz_mm = (plug[2] - sock[2]) * 1e3 - print(f" Δz (plug - socket root): {dz_mm:.2f} mm (decreasing → inserting)") - - -def _check_stdin(): - if select.select([sys.stdin], [], [], 0.0)[0]: - return sys.stdin.readline().strip() - return None - - -def _handle_command(raw, current_action): - """Parse a command and update current_action in place. - - Returns (quit: bool, reset: bool, mode: str | None, burst_steps: int). - burst_steps > 0 means caller should run that many steps immediately. - """ - parts = raw.split() - if not parts: - return False, False, None, 0 - cmd = parts[0].lower() - - if cmd == "q": - return True, False, None, 0 - elif cmd == "r": - current_action[:] = 0.0 - return False, True, None, 0 - elif cmd == "0": - current_action[:] = 0.0 - print(" All actions zeroed.") - elif cmd == "a": - print(f" Current action: {[f'{v:.3f}' for v in current_action.tolist()]}") - elif cmd in _AXIS_MAP: - if len(parts) < 2: - print(f" Usage: {cmd} [n_steps] (e.g. '{cmd} -1.0 30')") - else: - try: - val = float(parts[1]) - burst = int(parts[2]) if len(parts) >= 3 else 0 - current_action[_AXIS_MAP[cmd]] = val - mode_str = f"burst {burst} steps" if burst > 0 else "persistent" - print(f" action[{cmd}] = {val:.3f} ({mode_str}) full: {[f'{v:.3f}' for v in current_action.tolist()]}") - return False, False, None, burst - except ValueError: - print(f" Invalid value(s): {parts[1:]}") - elif cmd == "f": - return False, False, "fast", 0 - elif cmd == "s": - return False, False, "slow", 0 - else: - print(" Unknown command. Try 'z -1.0 30' to push down, '0' to stop, 'q' to quit.") - return False, False, None, 0 - - -# --------------------------------------------------------------------------- -# Main -# --------------------------------------------------------------------------- - - -def main(): - env_cfg, _ = resolve_task_config(TASK, "") - - with launch_simulation(env_cfg, args_cli): - env_cfg.scene.num_envs = args_cli.num_envs - if args_cli.device is not None: - env_cfg.sim.device = args_cli.device - - # Disable pose randomization — fixed geometry for reproducible insertion tests. - zero_range = {"x": [0.0, 0.0], "y": [0.0, 0.0], "z": [0.0, 0.0], - "roll": [0.0, 0.0], "pitch": [0.0, 0.0], "yaw": [0.0, 0.0]} - env_cfg.events.randomize_socket_pose.params["pose_range"] = zero_range - - # --start_seated: spawn plug at the fully-mated position (blade fully inside socket). - # Uses geometry: z_clearance = -_INSERTION_LENGTH (negative = inside socket). - z_clearance = -args_cli.insert_depth if args_cli.start_seated else args_cli.z_clearance - new_plug_root, new_plug_rot = compute_plug_pose(_GEOMETRY_POS, _SOCKET_ROT, z_clearance=z_clearance) - env_cfg.scene.dp_plug.init_state.pos = new_plug_root - env_cfg.scene.dp_plug.init_state.rot = new_plug_rot - if args_cli.start_seated: - print(f" Plug start: {args_cli.insert_depth*1e3:.0f} mm inside socket root={tuple(f'{v:.4f}' for v in new_plug_root)}") - # Spawning inside the socket causes collision overlap → huge depenetration forces. - # Cap the depenetration velocity so PhysX resolves the overlap gradually. - env_cfg.scene.dp_plug.spawn.rigid_props.max_depenetration_velocity = 0.05 - else: - print(f" Plug start: {z_clearance*1e3:.0f} mm above socket root={tuple(f'{v:.4f}' for v in new_plug_root)}") - - if hasattr(env_cfg.events, "randomize_plug_pose"): - env_cfg.events.randomize_plug_pose.params["pose_range"] = zero_range - if hasattr(env_cfg.events, "reset_plug_curriculum"): - env_cfg.events.reset_plug_curriculum.params["at_goal_prob"] = 0.0 - env_cfg.events.reset_plug_curriculum.params["normal_pose_range"] = zero_range - - # Enable inertial dynamics decoupling for cleaner manual control. - # gravity_compensation must remain False: the robot links have disable_gravity=True in PhysX, - # so OSC gravity torques would push the arm upward against non-existent gravity. - if hasattr(env_cfg.actions, "arm_action") and hasattr(env_cfg.actions.arm_action, "controller_cfg"): - env_cfg.actions.arm_action.controller_cfg.inertial_dynamics_decoupling = True - - env = gym.make(TASK, cfg=env_cfg) - env.reset() - - if args_cli.start_seated: - # Run settle steps with zero action so PhysX can gently resolve any spawn overlap - # before handing control to the user. - print(" Settling physics (50 steps) ...") - settle_actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) - for _ in range(50): - with torch.inference_mode(): - env.step(settle_actions) - print(" Settled.") - - if args_cli.show_colliders: - import carb - s = carb.settings.get_settings() - s.set("/physics/visualizationDisplayColliders", True) - print(" Collision meshes enabled.") - - action_dim = env.action_space.shape[-1] - current_action = torch.zeros(action_dim) # 6D OSC action, persists across steps - actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device) - - # pose_rel with zero action sets target = current pos each step → no restoring force. - # We hold position explicitly by tracking a reference EEF position and issuing a - # corrective action to drive back to it during the idle loop. - hold_eef_pos = _get_eef_pos(env) # world-frame (3,) tensor, updated after reset/burst - - slow_mode = True - step_delay = args_cli.step_delay - - print(HELP) - _print_poses(env) - print(f"Sim running — slow mode ({step_delay}s/step). Type commands anytime.\n") - - while True: - line = _check_stdin() - if line is not None: - cmd0 = line.lower().split()[0] if line.split() else "" - - if cmd0 == "p": - _print_poses(env) - continue - - quit_flag, reset_flag, mode, burst = _handle_command(line, current_action) - if quit_flag: - break - if reset_flag: - env.reset() - current_action[:] = 0.0 - hold_eef_pos = _get_eef_pos(env) - print(" Scene reset — robot re-grasping plug.") - _print_poses(env) - continue - if mode == "fast": - slow_mode = False - print(" Fast mode.") - continue - elif mode == "slow": - slow_mode = True - print(f" Slow mode ({step_delay}s/step).") - continue - - if burst > 0: - # Run burst steps with XY locking: record starting EEF XY and add - # proportional corrections each step to cancel kinematic X-Z coupling. - # The coupling is geometric (arm Jacobian cross-terms), not inertial, - # so OSC tuning alone cannot eliminate it. - start_eef = _get_eef_pos(env) - # Gain converts metres of XY error → action units (1 / position_scale). - # 0.025 is _ACTION_SCALE from task_space_env_cfg. - _XY_LOCK_GAIN = 1.0 / 0.025 - for _ in range(burst): - step_action = current_action.clone() - if start_eef is not None: - cur_eef = _get_eef_pos(env) - if cur_eef is not None: - xy_err = start_eef[:2] - cur_eef[:2] - step_action[0] += float(xy_err[0]) * _XY_LOCK_GAIN - step_action[1] += float(xy_err[1]) * _XY_LOCK_GAIN - actions[:] = torch.tensor(step_action, device=env.unwrapped.device) - with torch.inference_mode(): - env.step(actions) - # After burst: update hold reference to the new EEF position. - current_action[:] = 0.0 - actions[:] = 0.0 - hold_eef_pos = _get_eef_pos(env) - print(f" Burst done ({burst} steps).") - _print_poses(env) - continue - else: - # Persistent action set: snapshot current EEF XY as lock reference so - # the idle loop can cancel X-Z Jacobian coupling during the push. - new_eef = _get_eef_pos(env) - if new_eef is not None: - hold_eef_pos = new_eef - - # Idle loop: apply current_action + XY proportional correction to cancel - # kinematic coupling. XY correction always runs; Z hold only when fully idle. - _HOLD_GAIN = 1.0 / 0.025 # metres → action units - idle_action = current_action.clone() - if hold_eef_pos is not None: - cur_eef = _get_eef_pos(env) - if cur_eef is not None: - xy_err = hold_eef_pos[:2] - cur_eef[:2] - idle_action[0] += float(xy_err[0]) * _HOLD_GAIN - idle_action[1] += float(xy_err[1]) * _HOLD_GAIN - if current_action.abs().max() < 1e-6: - # Full XYZ hold when no action is active. - idle_action[2] += float(hold_eef_pos[2] - cur_eef[2]) * _HOLD_GAIN - actions[:] = torch.tensor(idle_action, device=env.unwrapped.device) - with torch.inference_mode(): - env.step(actions) - - if slow_mode: - time.sleep(step_delay) - - env.close() - - -if __name__ == "__main__": - main() diff --git a/scripts/find_dp_insertion.py b/scripts/find_dp_insertion.py deleted file mode 100644 index 35ed3e2b3a58..000000000000 --- a/scripts/find_dp_insertion.py +++ /dev/null @@ -1,188 +0,0 @@ -"""Find the plug orientation+position that nests the plug blade in the socket -cavity, working in the LIVE env (so every transform - env, init_state, asset -internal, scale - is baked in). - -Method: express the socket cavity (Body4 u Body5) AABB in socket-root-local -space, and the plug blade (Body1) points in plug-root-local space. For each of -the 24 axis-aligned rotations, rotate the blade, align its centroid to the -cavity centroid, and count the fraction of blade points that fall inside the -cavity AABB. The best rotation is the mating orientation. Report the plug WORLD -quaternion (w,x,y,z) and seated position. - -Usage: - ./isaaclab.sh -p scripts/find_dp_insertion.py --headless -""" - -import argparse -import itertools -import sys - -import numpy as np - -import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils import add_launcher_args, launch_simulation, resolve_task_config - -TASK = "Isaac-Deploy-DisplayportBasic-v0" -OUT = open("/home/shauryad/output_dir/dp_find.txt", "w") - -parser = argparse.ArgumentParser() -parser.add_argument("--num_envs", type=int, default=1) -add_launcher_args(parser) -args_cli, hydra_args = parser.parse_known_args() -sys.argv = [sys.argv[0]] + hydra_args - - -def log(*a): - m = " ".join(str(x) for x in a) - print(m) - OUT.write(m + "\n") - OUT.flush() - - -def rot_group_24(): - """Yield the 24 proper (det=+1) axis-aligned rotation matrices.""" - seen = [] - for perm in itertools.permutations(range(3)): - for signs in itertools.product((1, -1), repeat=3): - M = np.zeros((3, 3)) - for col, (row, s) in enumerate(zip(perm, signs)): - M[row, col] = s - if abs(np.linalg.det(M) - 1.0) < 1e-6: - seen.append(M) - return seen - - -def mat_to_quat_wxyz(R): - t = np.trace(R) - if t > 0: - s = np.sqrt(t + 1.0) * 2 - w = 0.25 * s - x = (R[2, 1] - R[1, 2]) / s - y = (R[0, 2] - R[2, 0]) / s - z = (R[1, 0] - R[0, 1]) / s - else: - i = np.argmax([R[0, 0], R[1, 1], R[2, 2]]) - if i == 0: - s = np.sqrt(1.0 + R[0, 0] - R[1, 1] - R[2, 2]) * 2 - w = (R[2, 1] - R[1, 2]) / s - x = 0.25 * s - y = (R[0, 1] + R[1, 0]) / s - z = (R[0, 2] + R[2, 0]) / s - elif i == 1: - s = np.sqrt(1.0 - R[0, 0] + R[1, 1] - R[2, 2]) * 2 - w = (R[0, 2] - R[2, 0]) / s - x = (R[0, 1] + R[1, 0]) / s - y = 0.25 * s - z = (R[1, 2] + R[2, 1]) / s - else: - s = np.sqrt(1.0 - R[0, 0] - R[1, 1] + R[2, 2]) * 2 - w = (R[1, 0] - R[0, 1]) / s - x = (R[0, 2] + R[2, 0]) / s - y = (R[1, 2] + R[2, 1]) / s - z = 0.25 * s - q = np.array([w, x, y, z]) - return q / np.linalg.norm(q) - - -def body_world_points(stage, root_path, body_names): - from pxr import Usd, UsdGeom - - cache = UsdGeom.XformCache() - pred = Usd.TraverseInstanceProxies(Usd.PrimDefaultPredicate) - pts = [] - root = stage.GetPrimAtPath(root_path) - for prim in Usd.PrimRange(root, pred): - if not prim.IsA(UsdGeom.Mesh): - continue - if prim.GetParent().GetName() not in body_names: - continue - local = np.array(UsdGeom.Mesh(prim).GetPointsAttr().Get(), dtype=np.float64) - m = np.array(cache.GetLocalToWorldTransform(prim), dtype=np.float64).reshape(4, 4) - w = (np.c_[local, np.ones(len(local))] @ m)[:, :3] - pts.append(w) - return np.vstack(pts) if pts else np.zeros((0, 3)) - - -def root_world_matrix(stage, root_path): - from pxr import UsdGeom - - cache = UsdGeom.XformCache() - return np.array(cache.GetLocalToWorldTransform(stage.GetPrimAtPath(root_path)), dtype=np.float64).reshape(4, 4) - - -def main(): - import gymnasium as gym - - env_cfg, _ = resolve_task_config(TASK, "") - with launch_simulation(env_cfg, args_cli): - env_cfg.scene.num_envs = args_cli.num_envs - env = gym.make(TASK, cfg=env_cfg) - env.reset() - from isaaclab.sim.utils import get_current_stage - - stage = get_current_stage() - plug_path = "/World/envs/env_0/DisplayPortPlug" - sock_path = "/World/envs/env_0/DisplayPortSocket" - - # socket-root world frame - Ts = root_world_matrix(stage, sock_path) - Rs = Ts[:3, :3] - Rs = Rs / np.linalg.norm(Rs, axis=0) # normalize (strip scale) columns - ts = Ts[3, :3] if Ts.shape == (4, 4) else Ts[:3, 3] - # USD row-vector convention: world = [p,1] @ M, translation in M[3,:3] - ts = Ts[3, :3] - - def to_socket_local(world_pts): - return (world_pts - ts) @ Rs # Rs columns are socket axes in world - - cavity_w = body_world_points(stage, sock_path, {"Body4", "Body5"}) - blade_w = body_world_points(stage, plug_path, {"Body1"}) - log(f"cavity points={len(cavity_w)} blade points={len(blade_w)}") - - cav_local = to_socket_local(cavity_w) - cav_min, cav_max = cav_local.min(0), cav_local.max(0) - cav_ctr = 0.5 * (cav_min + cav_max) - cav_ext = cav_max - cav_min - log(f"cavity socket-local AABB (mm): min={np.round(cav_min*1000,2)} max={np.round(cav_max*1000,2)} ext={np.round(cav_ext*1000,2)}") - - # blade in plug-root-local - Tp = root_world_matrix(stage, plug_path) - Rp = Tp[:3, :3] - Rp = Rp / np.linalg.norm(Rp, axis=0) - tp = Tp[3, :3] - blade_plocal = (blade_w - tp) @ Rp - blade_pc = blade_plocal.mean(0) - - best = None - for R in rot_group_24(): - # blade expressed in socket-local if plug-root is rotated by R relative to socket - b = (blade_plocal - blade_pc) @ R.T # rotate - b = b - b.mean(0) + cav_ctr # align centroid to cavity center - inside = np.all((b >= cav_min - 0.0005) & (b <= cav_max + 0.0005), axis=1) - frac = inside.mean() - ext = b.max(0) - b.min(0) - # prefer high containment AND blade longer than cavity along one axis (it protrudes out the opening) - if best is None or frac > best[1]: - best = (R, frac, ext) - - R_best, frac, ext = best - log(f"\nbest blade-in-cavity fraction={frac:.3f} blade ext in socket-local(mm)={np.round(ext*1000,2)}") - # plug world rotation = socket world rotation * R_best - Rworld = Rs @ R_best - q = mat_to_quat_wxyz(Rworld) - log(f"plug WORLD quat (w,x,y,z) = ({q[0]:+.5f}, {q[1]:+.5f}, {q[2]:+.5f}, {q[3]:+.5f})") - - # seated position: place plug root so blade centroid -> cavity centroid (world), - # backed off slightly along world up (+Z) so a gravity drop finishes the insert. - blade_ctr_world_offset = (Rworld @ (blade_pc)) if False else None - cav_ctr_world = cav_ctr @ Rs.T + ts - # plug root must be placed so that (R_best applied) blade centroid lands at cavity center. - # world position of plug root = cav_ctr_world - Rworld @ blade_pc - plug_pos = cav_ctr_world - Rworld @ blade_pc - log(f"seated plug WORLD pos (m) = ({plug_pos[0]:+.5f}, {plug_pos[1]:+.5f}, {plug_pos[2]:+.5f})") - log(f" (socket origin world z={ts[2]:.4f}; cavity center world z={cav_ctr_world[2]:.4f})") - log("\nDONE") - - -if __name__ == "__main__": - main() diff --git a/scripts/reinforcement_learning/rsl_rl/success_utils.py b/scripts/reinforcement_learning/rsl_rl/success_utils.py deleted file mode 100644 index 6bf9aff75225..000000000000 --- a/scripts/reinforcement_learning/rsl_rl/success_utils.py +++ /dev/null @@ -1,87 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Helper for printing task-success statistics during RSL-RL inference/play. - -Works with any environment that exposes a ``_compute_success()`` method returning -``(is_success, pos_error, keypoint_dist)`` per environment (see -``deploy.cable_insertion.insertion_env.DisplayportInsertionEnv``). For other -environments the tracker disables itself gracefully. -""" - -from __future__ import annotations - -import torch - - -class SuccessTracker: - """Accumulate and format success statistics across play steps/episodes. - - Two rates are tracked: - - - **instantaneous success rate**: fraction of envs currently in the success - state (plug mate point within threshold of the socket mate point). - - **episode success rate**: fraction of completed episodes in which the env - reached the success state at least once. This is robust to the fact that - manager-based envs auto-reset inside ``step()`` (the terminal state is not - visible post-step), because success is accumulated from prior in-episode - steps. - """ - - def __init__(self, env): - self.base = env.unwrapped - self.enabled = hasattr(self.base, "_compute_success") - if not self.enabled: - return - n = self.base.num_envs - self.device = self.base.device - self._ever_success = torch.zeros(n, dtype=torch.bool, device=self.device) - self.num_episodes = 0 - self.num_success_episodes = 0 - - def update(self, dones) -> dict | None: - """Update stats after an ``env.step``. ``dones`` is the per-env done tensor. - - Returns a dict of scalars, or ``None`` if the env does not support success. - """ - if not self.enabled: - return None - - is_success, pos_error, keypoint_dist = self.base._compute_success() - dones_b = torch.as_tensor(dones, device=self.device).bool().view(-1) - - # An episode ends this step for done envs: record whether it reached success - # at any point (accumulated in prior steps), then reseed with the fresh state. - if dones_b.any(): - reached = self._ever_success[dones_b] - self.num_episodes += int(dones_b.sum().item()) - self.num_success_episodes += int(reached.sum().item()) - self._ever_success[dones_b] = is_success[dones_b] - # Accumulate success for ongoing episodes. - ongoing = ~dones_b - self._ever_success[ongoing] |= is_success[ongoing] - - episode_rate = (self.num_success_episodes / self.num_episodes) if self.num_episodes > 0 else float("nan") - return { - "instant_success_rate": is_success.float().mean().item(), - "pos_error_m": pos_error.mean().item(), - "keypoint_dist_m": keypoint_dist.mean().item(), - "episode_success_rate": episode_rate, - "num_episodes": self.num_episodes, - } - - @staticmethod - def format(info: dict | None) -> str: - """Format the stats dict as a compact one-line string (empty if unsupported).""" - if info is None: - return "" - ep = info["episode_success_rate"] - ep_str = f"{ep:.3f}" if ep == ep else "n/a" # NaN check - return ( - f"[success] instant={info['instant_success_rate']:.3f} | " - f"episode={ep_str} (n={info['num_episodes']}) | " - f"pos_err={info['pos_error_m'] * 1000:.2f}mm | " - f"kp_dist={info['keypoint_dist_m'] * 1000:.2f}mm" - ) diff --git a/scripts/tools/flatten_cable_usd.py b/scripts/tools/flatten_cable_usd.py deleted file mode 100644 index c2276b27f6de..000000000000 --- a/scripts/tools/flatten_cable_usd.py +++ /dev/null @@ -1,257 +0,0 @@ -"""Fix plug/socket USDs so the rigid-body origin coincides with the visible mesh centroid. - -Both ``plug_A_no_snapfit_latch_transformed.usd`` and -``socket_A_simplified_minimal_transformed.usd`` were authored with the rigid-body prim -at the asset origin and child Xforms / Mesh prims with large baked-in **translates** -(e.g. ``(0.025, 0.564, 0.053)`` on the plug), plus rotations that orient the geometry -correctly. The convention these USDs follow is "geometry is centered at mesh-local -origin, the xform translates the geometry to its desired place in the source scene". - -The translate offsets put the visible/collidable mesh ~56 cm away from the rigid body -that IsaacLab tracks, so the gripper IK reaches the rigid-body origin while the actual -plug sits half a meter elsewhere. This script fixes that by: - -1. Walking from each leaf ``Mesh`` up to the rigid-body root, accumulating the chain - of local transforms into a single 4x4. -2. Splitting that 4x4 into a rotation ``R`` and a translation ``t``. -3. Baking only ``R`` into the mesh's ``points`` (and ``normals`` if authored). -4. Resetting all intermediate ``xformOps`` to identity. - -End state: the mesh has identity xform and rotated vertices, so ``v_world = body_world -· R · v_local``. The mesh-local origin (which is the visual centroid by CAD-export -convention) maps to the rigid-body origin in world space, and the original orientation -is preserved. - -Run via the helper that injects pxr's runtime libs onto the path: - - USD_LIBS=_isaac_sim/extscache/omni.usd.libs-1.0.1+4a5123f4.lx64.r.cp312 - LD_LIBRARY_PATH="$(pwd)/$USD_LIBS/bin:${LD_LIBRARY_PATH}" \\ - PYTHONPATH="$(pwd)/$USD_LIBS:${PYTHONPATH}" \\ - ./isaaclab.sh -p scripts/tools/flatten_cable_usd.py \\ - -o source/.../cable_insertion_assets/flattened -""" - -from __future__ import annotations - -import argparse -import shutil -from pathlib import Path - -from pxr import Gf, Sdf, Usd, UsdGeom, UsdPhysics - -DEFAULT_ASSETS = [ - Path( - "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/" - "cable_insertion/cable_insertion_assets/plug_A_no_snapfit_latch_transformed.usd" - ), - Path( - "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/" - "cable_insertion/cable_insertion_assets/socket_A_simplified_minimal_transformed.usd" - ), -] - - -def find_rigid_body_root(stage: Usd.Stage) -> Usd.Prim | None: - """Return the first prim with ``RigidBodyAPI`` applied, depth-first.""" - for prim in stage.Traverse(): - if prim.HasAPI(UsdPhysics.RigidBodyAPI): - return prim - return None - - -def local_matrix(prim: Usd.Prim) -> Gf.Matrix4d: - """Return the 4x4 local transform for a prim (identity if not Xformable).""" - if not prim.IsA(UsdGeom.Xformable): - return Gf.Matrix4d(1.0) - return UsdGeom.Xformable(prim).GetLocalTransformation(Usd.TimeCode.Default()) - - -def reset_xform_ops(prim: Usd.Prim) -> None: - """Clear all xformOps on a prim (it becomes identity in its parent's frame).""" - if not prim.IsA(UsdGeom.Xformable): - return - UsdGeom.Xformable(prim).ClearXformOpOrder() - for attr in list(prim.GetAttributes()): - if attr.GetName().startswith("xformOp:"): - prim.RemoveProperty(attr.GetName()) - - -def rotation_only_4x4(matrix: Gf.Matrix4d) -> Gf.Matrix4d: - """Strip the translation row from a 4x4, leaving rotation+scale only.""" - rot_only = Gf.Matrix4d(matrix) - rot_only.SetTranslateOnly(Gf.Vec3d(0.0, 0.0, 0.0)) - return rot_only - - -def apply_rotation_and_center(mesh: UsdGeom.Mesh, rot4x4: Gf.Matrix4d) -> Gf.Vec3d: - """Rotate mesh points by ``rot4x4`` and shift so the AABB centre is at origin. - - Returns: - The bbox-centre offset (in body-local coords) that was subtracted from each - vertex, for diagnostic logging. - """ - points_attr = mesh.GetPointsAttr() - pts = points_attr.Get() - if pts is None: - return Gf.Vec3d(0.0, 0.0, 0.0) - - rotated = [rot4x4.Transform(p) for p in pts] - - if rotated: - min_p = Gf.Vec3d(rotated[0]) - max_p = Gf.Vec3d(rotated[0]) - for p in rotated[1:]: - for i in range(3): - if p[i] < min_p[i]: - min_p[i] = p[i] - if p[i] > max_p[i]: - max_p[i] = p[i] - center = Gf.Vec3d( - (min_p[0] + max_p[0]) / 2, - (min_p[1] + max_p[1]) / 2, - (min_p[2] + max_p[2]) / 2, - ) - else: - center = Gf.Vec3d(0.0, 0.0, 0.0) - - centered = [Gf.Vec3f(p[0] - center[0], p[1] - center[1], p[2] - center[2]) for p in rotated] - points_attr.Set(centered) - - normals_attr = mesh.GetNormalsAttr() - if normals_attr.HasAuthoredValue(): - rot3x3 = rot4x4.ExtractRotationMatrix() - normals = normals_attr.Get() - if normals is not None: - new_normals = [rot3x3 * n for n in normals] - normals_attr.Set(new_normals) - - return center - - -def extra_rotation_4x4(extra_rot_z_deg: float) -> Gf.Matrix4d: - """Build a rotation-only 4x4 for the requested body-local Z rotation.""" - if extra_rot_z_deg == 0.0: - return Gf.Matrix4d(1.0) - rot = Gf.Rotation(Gf.Vec3d(0, 0, 1), extra_rot_z_deg) - matrix = Gf.Matrix4d(1.0) - matrix.SetRotateOnly(rot) - return matrix - - -def fix_descendants(rigid_root: Usd.Prim, extra_rot_z_deg: float = 0.0) -> tuple[int, int]: - """Bake rotation, drop translation for every chain from ``rigid_root`` to a Mesh. - - Args: - rigid_root: The prim with ``RigidBodyAPI`` to start the descent from. - extra_rot_z_deg: Optional additional rotation (degrees) about the body-local Z - axis applied after bbox-centring. Use this to align a new asset's geometry - orientation with an existing convention (e.g. when a replacement plug has - its long axis along X but the rest of the pipeline expects it along Y). - - Returns: - A ``(num_meshes_processed, num_xforms_reset)`` tuple for reporting. - """ - meshes_processed = 0 - xforms_to_reset: dict[Sdf.Path, Usd.Prim] = {} - - extra_rot = extra_rotation_4x4(extra_rot_z_deg) - - for prim in Usd.PrimRange(rigid_root): - if prim == rigid_root: - continue - if not prim.IsA(UsdGeom.Mesh): - continue - mesh = UsdGeom.Mesh(prim) - - accumulated = Gf.Matrix4d(1.0) - cursor = prim - while cursor != rigid_root and cursor.IsValid(): - accumulated = local_matrix(cursor) * accumulated - xforms_to_reset[cursor.GetPath()] = cursor - cursor = cursor.GetParent() - - # Always run bbox-centring even when the chain is identity: some assets - # ship with the geometry offset baked into the vertex coordinates - # themselves (no xformOps), and we still want body origin == bbox centre. - translation = accumulated.ExtractTranslation() - rotation_only = rotation_only_4x4(accumulated) - # Compose the asset's own rotation with the optional extra Z rotation; both - # are applied in body-local space so geometry ends up centred and re-aligned. - composed = extra_rot * rotation_only - bbox_offset = apply_rotation_and_center(mesh, composed) - meshes_processed += 1 - print(f" mesh={prim.GetPath()}") - print(f" dropped translation={tuple(translation)}") - print(f" shifted bbox centre by={tuple(bbox_offset)} so geometry is centred at body origin") - if extra_rot_z_deg != 0.0: - print(f" applied extra body-local Z rotation={extra_rot_z_deg} deg") - - for prim in xforms_to_reset.values(): - reset_xform_ops(prim) - - return meshes_processed, len(xforms_to_reset) - - -def process_asset(usd_path: Path, out_path: Path | None = None, extra_rot_z_deg: float = 0.0) -> None: - print(f"--- {usd_path}") - if not usd_path.exists(): - print(" ! file not found, skipping") - return - - stage = Usd.Stage.Open(str(usd_path)) - if stage is None: - print(" ! failed to open") - return - - rigid_root = find_rigid_body_root(stage) - if rigid_root is None: - print(" ! no RigidBodyAPI prim found, skipping") - return - print(f" rigid body prim: {rigid_root.GetPath()}") - - meshes, xforms = fix_descendants(rigid_root, extra_rot_z_deg=extra_rot_z_deg) - print(f" baked rotation into {meshes} mesh(es); reset {xforms} intermediate prim(s)") - - target = out_path if out_path is not None else usd_path - if out_path is None: - backup = usd_path.with_suffix(usd_path.suffix + ".bak") - if not backup.exists(): - shutil.copy2(usd_path, backup) - print(f" wrote backup -> {backup}") - - stage.GetRootLayer().Export(str(target)) - print(f" saved -> {target}") - - -def main() -> None: - parser = argparse.ArgumentParser(description=__doc__.splitlines()[0]) - parser.add_argument("paths", nargs="*", type=Path, default=DEFAULT_ASSETS) - parser.add_argument( - "-o", - "--out-dir", - type=Path, - default=None, - help="If set, write fixed USDs into this dir instead of overwriting (no backup is made).", - ) - parser.add_argument( - "--rotate-z-deg", - type=float, - default=0.0, - help=( - "Apply this additional body-local Z rotation (degrees) to vertices after " - "bbox-centring. Use to align a replacement asset's long axis with the " - "convention of the rest of the pipeline (e.g. 90 deg to swap X and Y)." - ), - ) - args = parser.parse_args() - - if args.out_dir is not None: - args.out_dir.mkdir(parents=True, exist_ok=True) - - for usd_path in args.paths: - out = args.out_dir / usd_path.name if args.out_dir is not None else None - process_asset(usd_path, out, extra_rot_z_deg=args.rotate_z_deg) - - -if __name__ == "__main__": - main() diff --git a/scripts/tools/inspect_cable_usd.py b/scripts/tools/inspect_cable_usd.py deleted file mode 100644 index 8bf895bc9bd4..000000000000 --- a/scripts/tools/inspect_cable_usd.py +++ /dev/null @@ -1,94 +0,0 @@ -"""Quick inspector to find any baked-in xform offsets in plug/socket USDs.""" - -import sys - -from pxr import Usd, UsdGeom, UsdPhysics - -"""Set ``ASSETS`` from the command line, or edit this list to inspect other USDs.""" -ASSETS = sys.argv[1:] or [ - "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_assets/plug_A_no_snapfit_latch_transformed.usd", - "source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/cable_insertion/cable_insertion_assets/socket_A_simplified_minimal_transformed.usd", -] - - -def inspect_xform_ops(prim, depth=0, max_depth=8, rb_world_to_local=None): - """Recurse and print xform ops, RigidBody/Mass/Collision markers, and Mesh bbox in body-local frame.""" - if depth > max_depth: - return - indent = " " * depth - name = prim.GetName() or "/" - typename = prim.GetTypeName() - - has_rb = prim.HasAPI(UsdPhysics.RigidBodyAPI) - has_mass = prim.HasAPI(UsdPhysics.MassAPI) - has_collision = prim.HasAPI(UsdPhysics.CollisionAPI) - - msg_extras = [] - if has_rb: - msg_extras.append("RigidBodyAPI") - rb = UsdPhysics.RigidBodyAPI(prim) - if rb.GetRigidBodyEnabledAttr().IsAuthored(): - msg_extras.append(f"rb_enabled={rb.GetRigidBodyEnabledAttr().Get()}") - if rb.GetKinematicEnabledAttr().IsAuthored(): - msg_extras.append(f"kinematic={rb.GetKinematicEnabledAttr().Get()}") - # disable_gravity is on PhysxRigidBodyAPI, but we can check via authored attrs - for a in prim.GetAttributes(): - if "disableGravity" in a.GetName() or "gravity" in a.GetName().lower(): - msg_extras.append(f"{a.GetName()}={a.Get()}") - if has_mass: - msg_extras.append("MassAPI") - if has_collision: - msg_extras.append("CollisionAPI") - - if prim.IsA(UsdGeom.Xformable): - x = UsdGeom.Xformable(prim) - ops = x.GetOrderedXformOps() - op_strs = [] - for op in ops: - try: - val = op.Get() - except Exception: - val = "?" - op_strs.append(f"{op.GetOpName()}={val}") - if op_strs: - msg_extras.append("ops=[" + ", ".join(op_strs) + "]") - - if prim.IsA(UsdGeom.Mesh): - mesh = UsdGeom.Mesh(prim) - pts = mesh.GetPointsAttr().Get() - if pts is not None and len(pts) > 0: - from pxr import Gf as _Gf - min_p = _Gf.Vec3d(float("inf"), float("inf"), float("inf")) - max_p = _Gf.Vec3d(float("-inf"), float("-inf"), float("-inf")) - for p in pts: - for i in range(3): - min_p[i] = min(min_p[i], p[i]) - max_p[i] = max(max_p[i], p[i]) - center = ((min_p[0] + max_p[0]) / 2, (min_p[1] + max_p[1]) / 2, (min_p[2] + max_p[2]) / 2) - size = (max_p[0] - min_p[0], max_p[1] - min_p[1], max_p[2] - min_p[2]) - msg_extras.append(f"bbox_center_local=({center[0]:.4f},{center[1]:.4f},{center[2]:.4f})") - msg_extras.append(f"bbox_size=({size[0]:.4f},{size[1]:.4f},{size[2]:.4f})") - - extras = " ".join(msg_extras) - print(f"{indent}- {name} <{typename}>{' ' + extras if extras else ''}") - - for child in prim.GetChildren(): - inspect_xform_ops(child, depth + 1, max_depth) - - -for asset in ASSETS: - print("=" * 100) - print(f"INSPECTING: {asset}") - print("=" * 100) - stage = Usd.Stage.Open(asset) - if stage is None: - print(f" Failed to open {asset}") - continue - print(f" Default prim: {stage.GetDefaultPrim().GetPath()}") - print(f" Up axis: {UsdGeom.GetStageUpAxis(stage)}") - print(f" Meters per unit: {UsdGeom.GetStageMetersPerUnit(stage)}") - print() - inspect_xform_ops(stage.GetPseudoRoot(), depth=0, max_depth=10) - print() - -sys.exit(0) diff --git a/scripts/tools/inspect_cable_usd_kit.py b/scripts/tools/inspect_cable_usd_kit.py deleted file mode 100644 index fc5aec05236a..000000000000 --- a/scripts/tools/inspect_cable_usd_kit.py +++ /dev/null @@ -1,107 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Quick USD inspector that runs through IsaacLab's app launcher (so pxr is importable). - -Usage: - ./isaaclab.sh -p scripts/tools/inspect_cable_usd_kit.py path/to/asset.usd [more.usd...] -""" - -from __future__ import annotations - -import argparse - -from isaaclab.app import AppLauncher - -parser = argparse.ArgumentParser() -parser.add_argument("usd_paths", nargs="+", help="USD files to inspect.") -AppLauncher.add_app_launcher_args(parser) -args = parser.parse_args() - -args.headless = True -app_launcher = AppLauncher(args) -simulation_app = app_launcher.app - -print("[INSPECT] AppLauncher up, importing pxr...", flush=True) - -from pxr import Gf, Usd, UsdGeom, UsdPhysics # noqa: E402 - -print("[INSPECT] pxr imported", flush=True) -print(f"[INSPECT] usd_paths={args.usd_paths!r}", flush=True) - - -def walk(prim, depth=0, max_depth=12): - if depth > max_depth: - return - indent = " " * depth - name = prim.GetName() or "/" - typename = prim.GetTypeName() - - extras = [] - if prim.HasAPI(UsdPhysics.RigidBodyAPI): - extras.append("RigidBodyAPI") - rb = UsdPhysics.RigidBodyAPI(prim) - if rb.GetKinematicEnabledAttr().IsAuthored(): - extras.append(f"kinematic={rb.GetKinematicEnabledAttr().Get()}") - if prim.HasAPI(UsdPhysics.MassAPI): - extras.append("MassAPI") - if prim.HasAPI(UsdPhysics.CollisionAPI): - extras.append("CollisionAPI") - - if prim.IsA(UsdGeom.Xformable): - x = UsdGeom.Xformable(prim) - ops = x.GetOrderedXformOps() - for op in ops: - try: - val = op.Get() - except Exception: - val = "?" - extras.append(f"{op.GetOpName()}={val}") - - if prim.IsA(UsdGeom.Mesh): - mesh = UsdGeom.Mesh(prim) - pts = mesh.GetPointsAttr().Get() - if pts is not None and len(pts) > 0: - min_p = Gf.Vec3d(float("inf"), float("inf"), float("inf")) - max_p = Gf.Vec3d(float("-inf"), float("-inf"), float("-inf")) - for p in pts: - for i in range(3): - min_p[i] = min(min_p[i], p[i]) - max_p[i] = max(max_p[i], p[i]) - center = ((min_p[0] + max_p[0]) / 2, (min_p[1] + max_p[1]) / 2, (min_p[2] + max_p[2]) / 2) - size = (max_p[0] - min_p[0], max_p[1] - min_p[1], max_p[2] - min_p[2]) - extras.append(f"bbox_center=({center[0]:.4f},{center[1]:.4f},{center[2]:.4f})") - extras.append(f"bbox_size=({size[0]:.4f},{size[1]:.4f},{size[2]:.4f})") - - extras_str = (" " + " | ".join(extras)) if extras else "" - print(f"{indent}- {name} <{typename}>{extras_str}") - - for child in prim.GetChildren(): - walk(child, depth + 1, max_depth) - - -for asset in args.usd_paths: - try: - print("=" * 100, flush=True) - print(f"INSPECTING: {asset}", flush=True) - print("=" * 100, flush=True) - stage = Usd.Stage.Open(asset) - if stage is None: - print(" Failed to open stage", flush=True) - continue - default_prim = stage.GetDefaultPrim() - print(f" Default prim: {default_prim.GetPath() if default_prim else ''}", flush=True) - print(f" Up axis: {UsdGeom.GetStageUpAxis(stage)}", flush=True) - print(f" Meters per unit: {UsdGeom.GetStageMetersPerUnit(stage)}", flush=True) - print(flush=True) - walk(stage.GetPseudoRoot(), 0) - print(flush=True) - except Exception as exc: - print(f"[INSPECT] EXCEPTION while inspecting {asset}: {exc!r}", flush=True) - import traceback - - traceback.print_exc() - -simulation_app.close() diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py deleted file mode 100644 index 02e475d51c4b..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/cable_insertion_env_cfg.py +++ /dev/null @@ -1,351 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -import os -from dataclasses import MISSING - -from isaaclab_physx.physics import PhysxCfg - -import isaaclab.sim as sim_utils -from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg -from isaaclab.envs import ManagerBasedRLEnvCfg -from isaaclab.managers import ActionTermCfg as ActionTerm -from isaaclab.managers import EventTermCfg as EventTerm -from isaaclab.managers import ObservationGroupCfg as ObsGroup -from isaaclab.managers import ObservationTermCfg as ObsTerm -from isaaclab.managers import RewardTermCfg as RewTerm -from isaaclab.managers import SceneEntityCfg -from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.scene import InteractiveSceneCfg -from isaaclab.sim.simulation_cfg import SimulationCfg -from isaaclab.utils import configclass -from isaaclab.utils.noise import UniformNoiseCfg - -import isaaclab_tasks.contrib.deploy.mdp as mdp -from isaaclab_tasks.contrib.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg - -CONFIG_DIR = os.path.dirname(os.path.abspath(__file__)) -ASSETS_DIR = os.path.join(CONFIG_DIR, "cable_insertion_assets") - -# --------------------------------------------------------------------------- -# USD body-frame offsets (GB300 asset geometry) -# --------------------------------------------------------------------------- -# The GB300 socket/plug USD root frames are far from the actual insertion -# geometry. These constants map root -> insertion point in each asset's -# local frame and are used for observations, rewards, and computing the -# correct root positions so the geometry ends up at the desired workspace -# location. -SOCKET_INSERTION_OFFSET = [0.0254, 0.5347, 0.0543] -PLUG_INSERTION_OFFSET = [0.03, 0.0, 0.0] -# Plug goal rotation relative to socket: euler(180, 0, -90) deg as (x,y,z,w). -PLUG_GOAL_ROT = [0.70711, -0.70711, 0.0, 0.0] -PLUG_GOAL_ROT_INV = [-0.70711, 0.70711, 0.0, 0.0] - - -# --------------------------------------------------------------------------- -# Pure-python quaternion helpers (for module-level constant computation) -# --------------------------------------------------------------------------- - -def _quat_rotate_vec(q_xyzw, v): - """Apply quaternion rotation to a 3D vector.""" - qx, qy, qz, qw = q_xyzw - vx, vy, vz = v - tx = 2.0 * (qy * vz - qz * vy) - ty = 2.0 * (qz * vx - qx * vz) - tz = 2.0 * (qx * vy - qy * vx) - return ( - vx + qw * tx + qy * tz - qz * ty, - vy + qw * ty + qz * tx - qx * tz, - vz + qw * tz + qx * ty - qy * tx, - ) - - -def _quat_mul(q1_xyzw, q2_xyzw): - """Multiply two quaternions in (x, y, z, w) format.""" - x1, y1, z1, w1 = q1_xyzw - x2, y2, z2, w2 = q2_xyzw - return ( - w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, - w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, - w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, - w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, - ) - - -def compute_socket_root(geometry_pos, socket_rot): - """Compute socket USD root position from desired insertion-geometry world position. - - The GB300 socket USD root frame is offset from the actual insertion - geometry by ``SOCKET_INSERTION_OFFSET`` in the socket's local frame. - This function inverts that offset for a given world-frame socket rotation. - """ - rotated = _quat_rotate_vec(socket_rot, SOCKET_INSERTION_OFFSET) - return ( - geometry_pos[0] - rotated[0], - geometry_pos[1] - rotated[1], - geometry_pos[2] - rotated[2], - ) - - -def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): - """Compute plug USD root position and world-frame rotation. - - Returns ``(plug_root_pos, plug_rot)`` such that the plug insertion - point lands at ``geometry_pos`` (plus optional vertical clearance) - with the correct goal orientation relative to the socket. - """ - plug_rot = _quat_mul(socket_rot, tuple(PLUG_GOAL_ROT)) - plug_offset_world = _quat_rotate_vec(plug_rot, PLUG_INSERTION_OFFSET) - plug_root = ( - geometry_pos[0] - plug_offset_world[0], - geometry_pos[1] - plug_offset_world[1], - geometry_pos[2] - plug_offset_world[2] + z_clearance, - ) - return plug_root, plug_rot - - -# --------------------------------------------------------------------------- -# Default socket/plug workspace positions (identity socket rotation) -# --------------------------------------------------------------------------- -_INSERTION_POINT = [0.5, 0.0, 0.0] -_DEFAULT_SOCKET_ROT = (0.0, 0.0, 0.0, 1.0) - -_SOCKET_ROOT_POS = compute_socket_root(_INSERTION_POINT, _DEFAULT_SOCKET_ROT) -_PLUG_ROOT_POS, _DEFAULT_PLUG_ROT = compute_plug_pose( - _INSERTION_POINT, _DEFAULT_SOCKET_ROT, z_clearance=0.033, -) - -## -# Asset Configurations -## - - -@configclass -class GB300Plug(RigidObjectCfg): - """Configuration for GB300 Plug (held asset).""" - - prim_path = "{ENV_REGEX_NS}/GB300Plug" - spawn = sim_utils.UsdFileCfg( - usd_path=os.path.join(ASSETS_DIR, "plug_A_no_snapfit_latch_no_bulge_collision_mesh.usd"), - activate_contact_sensors=False, - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=False, - kinematic_enabled=False, - max_depenetration_velocity=5.0, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=128, - solver_velocity_iteration_count=1, - max_contact_impulse=1e32, - ), - mass_props=sim_utils.MassPropertiesCfg(mass=0.05), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), - ) - init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=PLUG_GOAL_ROT) - - -@configclass -class GB300Socket(RigidObjectCfg): - """Configuration for GB300 Socket (fixed asset).""" - - prim_path = "{ENV_REGEX_NS}/GB300Socket" - spawn = sim_utils.UsdFileCfg( - usd_path=os.path.join(ASSETS_DIR, "socket_A_simplified_minimal.usd"), - activate_contact_sensors=False, - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=False, - kinematic_enabled=True, - max_depenetration_velocity=5.0, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=128, - solver_velocity_iteration_count=1, - max_contact_impulse=1e32, - ), - mass_props=sim_utils.MassPropertiesCfg(mass=None), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0), - ) - init_state = RigidObjectCfg.InitialStateCfg(pos=_SOCKET_ROOT_POS, rot=(0.0, 0.0, 0.0, 1.0)) - - -## -# Environment configuration -## - - -@configclass -class CableInsertionSceneCfg(InteractiveSceneCfg): - """Configuration for the cable insertion scene.""" - - replicate_physics = False - - ground = AssetBaseCfg( - prim_path="/World/ground", - spawn=sim_utils.GroundPlaneCfg(), - init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)), - ) - - gb300_plug = GB300Plug() - gb300_socket = GB300Socket() - - robot: ArticulationCfg = MISSING - - light = AssetBaseCfg( - prim_path="/World/light", - spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2500.0), - ) - - -@configclass -class ActionsCfg: - """Action specifications for the MDP.""" - - arm_action: ActionTerm = MISSING - gripper_action: ActionTerm | None = None - - -@configclass -class ObservationsCfg: - """Observation specifications for the MDP.""" - - @configclass - class PolicyCfg(ObsGroup): - """Observations for policy group.""" - - joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) - joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) - socket_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, - noise=ResetSampledConstantNoiseModelCfg( - noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") - ), - ) - socket_quat = ObsTerm( - func=mdp.rigid_object_quat_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket")}, - ) - - def __post_init__(self): - self.enable_corruption = True - self.concatenate_terms = True - - @configclass - class CriticCfg(ObsGroup): - """Observations for critic group.""" - - joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) - joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}) - socket_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, - ) - socket_quat = ObsTerm( - func=mdp.rigid_object_quat_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket")}, - ) - plug_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_plug"), "offset": PLUG_INSERTION_OFFSET}, - ) - plug_quat = ObsTerm( - func=mdp.rigid_object_quat_w, - params={"asset_cfg": SceneEntityCfg("gb300_plug")}, - ) - - policy: PolicyCfg = PolicyCfg() - critic: CriticCfg = CriticCfg() - - -@configclass -class EventCfg: - """Configuration for events.""" - - reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") - - -@configclass -class RewardsCfg: - """Reward terms for the MDP.""" - - plug_socket_keypoint_tracking = RewTerm( - func=mdp.keypoint_two_body_error, - weight=-1.5, - params={ - "asset_cfg_1": SceneEntityCfg("gb300_socket"), - "asset_cfg_2": SceneEntityCfg("gb300_plug"), - "offset_1": SOCKET_INSERTION_OFFSET, - "offset_2": PLUG_INSERTION_OFFSET, - "rot_offset_2": PLUG_GOAL_ROT_INV, - "keypoint_scale": 0.15, - }, - ) - - plug_socket_keypoint_tracking_exp = RewTerm( - func=mdp.keypoint_two_body_error_exp, - weight=3.0, - params={ - "asset_cfg_1": SceneEntityCfg("gb300_socket"), - "asset_cfg_2": SceneEntityCfg("gb300_plug"), - "offset_1": SOCKET_INSERTION_OFFSET, - "offset_2": PLUG_INSERTION_OFFSET, - "rot_offset_2": PLUG_GOAL_ROT_INV, - "kp_exp_coeffs": [(50, 0.0001), (300, 0.0001), (600, 0.0001)], - "kp_use_sum_of_exps": False, - "keypoint_scale": 0.15, - }, - ) - - action_rate = RewTerm(func=mdp.action_rate_l2, weight=-5.0e-06) - - # action_l2 = RewTerm(func=mdp.action_l2, weight=-5.0e-06) - - -@configclass -class TerminationsCfg: - """Termination terms for the MDP.""" - - time_out = DoneTerm(func=mdp.time_out, time_out=True) - - -@configclass -class CableInsertionEnvCfg(ManagerBasedRLEnvCfg): - scene: CableInsertionSceneCfg = CableInsertionSceneCfg(num_envs=4096, env_spacing=2.5) - observations: ObservationsCfg = ObservationsCfg() - actions: ActionsCfg = ActionsCfg() - rewards: RewardsCfg = RewardsCfg() - terminations: TerminationsCfg = TerminationsCfg() - events: EventCfg = EventCfg() - sim: SimulationCfg = SimulationCfg( - physics_material=sim_utils.RigidBodyMaterialCfg( - friction_combine_mode="multiply", - restitution_combine_mode="multiply", - static_friction=1.0, - dynamic_friction=1.0, - restitution=0.0, - ), - physics=PhysxCfg( - bounce_threshold_velocity=0.2, - friction_offset_threshold=0.01, - friction_correlation_distance=0.00625, - gpu_collision_stack_size=2**30, - gpu_max_rigid_contact_count=2**23, - gpu_max_rigid_patch_count=2**23, - ), - ) - - def __post_init__(self): - """Post initialization.""" - self.episode_length_s = 6.66 - self.viewer.eye = (3.5, 3.5, 3.5) - self.decimation = 8 - self.sim.render_interval = self.decimation - self.sim.dt = 1.0 / 240.0 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/__init__.py deleted file mode 100644 index d0e2177ddcd7..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/__init__.py +++ /dev/null @@ -1,19 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -import gymnasium as gym - -## -# Register Gym environments. -## - -gym.register( - id="Isaac-Deploy-DisplayportBasic-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.displayport_basic_env_cfg:DisplayportBasicEnvCfg", - }, -) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py deleted file mode 100644 index bbfa63c110ce..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/displayport_basic_env_cfg.py +++ /dev/null @@ -1,281 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Passive drop-test environment for DisplayPort plug/socket assets. - -No robot, no actions. The plug starts above the socket and falls under -gravity — use this to visually verify asset stability and insertion -feasibility before wiring into a full RL environment. -""" - -import os - -from isaaclab_physx.physics import PhysxCfg - -import isaaclab.sim as sim_utils -from isaaclab.assets import AssetBaseCfg, RigidObjectCfg -from isaaclab.envs import ManagerBasedRLEnvCfg -from isaaclab.managers import EventTermCfg as EventTerm -from isaaclab.managers import ObservationGroupCfg as ObsGroup -from isaaclab.managers import ObservationTermCfg as ObsTerm -from isaaclab.managers import SceneEntityCfg -from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.scene import InteractiveSceneCfg -from isaaclab.sim.simulation_cfg import SimulationCfg -from isaaclab.utils import configclass - -import isaaclab_tasks.contrib.deploy.mdp as mdp - -# --------------------------------------------------------------------------- -# Asset paths -# --------------------------------------------------------------------------- -CABLE_INSERTION_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..") -DISPLAY_ASSETS_DIR = os.path.join(CABLE_INSERTION_DIR, "display_cable_insertion_assets") - -# --------------------------------------------------------------------------- -# Plug orientation for drop test -# --------------------------------------------------------------------------- -# The DisplayPort plug has a 90-degree physical turn (right-angle connector). -# We apply the same rotation convention as the GB300 cable insertion env: -# euler(180, 0, -90) → flip plug 180° around X (face downward toward socket) -# then rotate -90° around Z (account for the 90° connector turn). -# Quaternion in (x, y, z, w) format. -PLUG_DROP_ROT = (0.70711, 0.70711, 0.0, 0.0) - -# Alternative rotations to try if the default doesn't align the connector: -# Pure 180° X flip (no Z correction): (1.0, 0.0, 0.0, 0.0) -# euler(180, 0, +90): (0.70711, 0.70711, 0.0, 0.0) -# Identity (no rotation): (0.0, 0.0, 0.0, 1.0) - -SOCKET_HEIGHT = 0.15 # metres above ground -PLUG_CLEARANCE = 0.02 # metres above socket opening - - -## -# Asset Configurations -## - - -@configclass -class DisplayPortPlug(RigidObjectCfg): - """DisplayPort right-angle plug — dynamic, falls under gravity.""" - - prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" - spawn = sim_utils.UsdFileCfg( - # func=_SPAWNER, # old: custom spawner needed for old assets (deinstance, strip physics scenes) - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_plug.usd"), - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, needs scale=0.0254 - # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/plug/conform/fet001-minimal/plug_material_physics.usd", # old: absolute path, convexHull - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_sdf.usd"), - # pipeline output post-processed by finalize_dp_assets.py: metres, single root RB, convexDecomposition. - scale=(1.0, 1.0, 1.0), - activate_contact_sensors=True, - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=False, - kinematic_enabled=False, - # Gentle depenetration: a high value (5.0) turns any residual contact - # overlap at the tight mate into an explosive ejection. 0.5 lets PhysX - # resolve overlaps smoothly without launching the plug. - max_depenetration_velocity=0.5, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=128, - solver_velocity_iteration_count=1, - # No max-impulse cap (1e32 effectively uncapped it but combined with a - # high depenetration velocity amplified contact blow-ups). Use the - # PhysX default by leaving it unset. - max_contact_impulse=None, - ), - mass_props=sim_utils.MassPropertiesCfg(mass=0.03), - # DP blade-to-cavity clearance is ~0.27mm at the tightest body (Body5). - # contact_offset=0.3mm overshoots that gap → persistent shell penetration - # creating a net lateral force each step that eventually ejects the plug. - # Use 0.1mm so the contact shell stays within the cavity clearance. - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), - ) - # NOTE: seated pose under verification (scripts/dp_verify_seated_geometry.py). - # The dp_insertion_test.py best-of-24 solver pose was geometrically wrong - # (blade floated ~22 mm beside the socket, not in the hole). rot is (w,x,y,z). - init_state = RigidObjectCfg.InitialStateCfg( - pos=(0.0, 0.0, 0.2096), - rot=PLUG_DROP_ROT, - ) - - -@configclass -class DisplayPortSocket(RigidObjectCfg): - """DisplayPort socket — kinematic (fixed in place).""" - - prim_path = "{ENV_REGEX_NS}/DisplayPortSocket" - spawn = sim_utils.UsdFileCfg( - # func=_SPAWNER, # old: custom spawner needed for old assets - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584N111_Displayport Cord_socket_screws_removed_material_physics.usd"), - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "simready_socket.usd"), - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, needs scale=0.0254 - # usd_path="/home/shauryad/workspaces/rl_policy/physical-ai-skill-hub-dev/outputs/socket/conform/fet001-minimal/socket_material_physics.usd", # old: absolute path - usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_sdf.usd"), - # pipeline output post-processed by finalize_dp_assets.py: metres, kinematic root, all bodies enabled. - scale=(1.0, 1.0, 1.0), - activate_contact_sensors=False, - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=False, - kinematic_enabled=True, - max_depenetration_velocity=5.0, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=128, - solver_velocity_iteration_count=1, - max_contact_impulse=1e32, - ), - mass_props=sim_utils.MassPropertiesCfg(mass=None), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=0.0), - ) - init_state = RigidObjectCfg.InitialStateCfg( - pos=(0.0, 0.0, SOCKET_HEIGHT), - rot=(0.5, 0.5, 0.5, -0.5), - ) - - -## -# Scene -## - - -@configclass -class DisplayportBasicSceneCfg(InteractiveSceneCfg): - """Minimal scene: DisplayPort plug + socket, ground, and light. No robot.""" - - # replicate_physics = False # old: required when spawner patched de-instanced geometry at runtime - replicate_physics = True - - ground = AssetBaseCfg( - prim_path="/World/ground", - spawn=sim_utils.GroundPlaneCfg(), - init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0)), - ) - - dp_plug = DisplayPortPlug() - dp_socket = DisplayPortSocket() - - light = AssetBaseCfg( - prim_path="/World/light", - spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2500.0), - ) - - -## -# MDP — minimal (no robot, no actions) -## - - -@configclass -class ActionsCfg: - """No actions — passive drop test.""" - - pass - - -@configclass -class ObservationsCfg: - """Track plug and socket pose for monitoring the drop.""" - - @configclass - class PolicyCfg(ObsGroup): - plug_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("dp_plug")}, - ) - plug_quat = ObsTerm( - func=mdp.rigid_object_quat_w, - params={"asset_cfg": SceneEntityCfg("dp_plug")}, - ) - socket_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("dp_socket")}, - ) - socket_quat = ObsTerm( - func=mdp.rigid_object_quat_w, - params={"asset_cfg": SceneEntityCfg("dp_socket")}, - ) - - def __post_init__(self): - self.enable_corruption = False - self.concatenate_terms = True - - policy: PolicyCfg = PolicyCfg() - - -@configclass -class EventCfg: - """Reset to initial pose on episode boundary.""" - - reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") - - -@configclass -class RewardsCfg: - """No rewards — observation-only test.""" - - pass - - -@configclass -class TerminationsCfg: - """End episode after timeout so the scene resets and replays the drop.""" - - time_out = DoneTerm(func=mdp.time_out, time_out=True) - - -## -# Environment configuration -## - - -@configclass -class DisplayportBasicEnvCfg(ManagerBasedRLEnvCfg): - """Passive drop-test environment for DisplayPort plug/socket assets. - - The plug starts above the socket and falls under gravity. - No robot, no actions — just physics simulation to validate asset - geometry, collision meshes, and insertion feasibility. - """ - - scene: DisplayportBasicSceneCfg = DisplayportBasicSceneCfg(num_envs=1, env_spacing=2.5) - observations: ObservationsCfg = ObservationsCfg() - actions: ActionsCfg = ActionsCfg() - rewards: RewardsCfg = RewardsCfg() - terminations: TerminationsCfg = TerminationsCfg() - events: EventCfg = EventCfg() - sim: SimulationCfg = SimulationCfg( - physics_material=sim_utils.RigidBodyMaterialCfg( - friction_combine_mode="multiply", - restitution_combine_mode="multiply", - static_friction=1.0, - dynamic_friction=1.0, - restitution=0.0, - ), - physics=PhysxCfg( - bounce_threshold_velocity=0.2, - friction_offset_threshold=0.01, - friction_correlation_distance=0.00625, - gpu_collision_stack_size=2**30, - gpu_max_rigid_contact_count=2**23, - gpu_max_rigid_patch_count=2**23, - ), - ) - - def __post_init__(self): - self.episode_length_s = 10.0 - self.viewer.eye = (0.3, 0.3, 0.3) - self.viewer.lookat = (0.0, 0.0, SOCKET_HEIGHT) - self.decimation = 1 - self.sim.render_interval = 1 - self.sim.dt = 1.0 / 240.0 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/spawners.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/spawners.py deleted file mode 100644 index 92d34ab14e62..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_basic/spawners.py +++ /dev/null @@ -1,202 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Custom spawner for DisplayPort USD assets. - -This module is intentionally separate from the env cfg to avoid importing -``pxr`` before ``SimulationApp`` starts. It is referenced via a string -in the ``UsdFileCfg.func`` field and only loaded at scene-creation time. -""" - -from __future__ import annotations - -from pxr import Usd, UsdGeom, UsdPhysics - -from isaaclab.sim import schemas -from isaaclab.sim.schemas import schemas_cfg -from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from isaaclab.sim.utils import clone, create_prim, get_current_stage -from isaaclab.utils.assets import check_file_path, retrieve_file_path - - -def _deinstance(stage, root_path: str): - """Make instanced geometry under ``root_path`` concrete (editable). - - Some simready assets (e.g. the DisplayPort plug) ship their geometry as USD - instances. Instanced prims are shared, read-only proxies that - ``Usd.PrimRange`` does not descend into, so the per-mesh physics authoring - below would silently skip them and the asset would keep its source-authored - collider (convexHull). Setting ``instanceable = False`` de-instances the - subtree so every mesh becomes a concrete prim we can author on. Runs in - bounded passes to handle nested instances. - """ - root_prim = stage.GetPrimAtPath(root_path) - for _ in range(8): - instances = [prim for prim in Usd.PrimRange(root_prim) if prim.IsInstance()] - if not instances: - break - for prim in instances: - prim.SetInstanceable(False) - - -def _strip_child_rigid_bodies(stage, root_path: str): - """Remove RigidBodyAPI from every descendant prim so only the root carries it.""" - root_prim = stage.GetPrimAtPath(root_path) - for prim in Usd.PrimRange(root_prim): - if prim.GetPath() == root_prim.GetPath(): - continue - if prim.HasAPI(UsdPhysics.RigidBodyAPI): - prim.RemoveAPI(UsdPhysics.RigidBodyAPI) - - -def _remove_embedded_physics_scenes(stage, root_path: str): - """Remove any PhysicsScene prims embedded inside the asset. - - Simready assets may ship with their own PhysicsScene which conflicts - with the scene created by Isaac Lab. - """ - root_prim = stage.GetPrimAtPath(root_path) - to_remove = [] - for prim in Usd.PrimRange(root_prim): - if prim.GetTypeName() == "PhysicsScene": - to_remove.append(str(prim.GetPath())) - for path in to_remove: - stage.RemovePrim(path) - - -def _disable_internal_collision_bodies(stage, root_path: str): - """Disable collision on internal socket bodies that block insertion. - - Body4 (inner frame) and Body5 (cavity tongue) require sub-millimeter - alignment precision. Disabling them allows the outer housing (Body8) - to provide the primary insertion constraint while we iterate on alignment. - """ - DISABLE_BODIES = {"Body4", "Body5"} - root_prim = stage.GetPrimAtPath(root_path) - for prim in Usd.PrimRange(root_prim): - if not prim.IsA(UsdGeom.Mesh): - continue - parent_name = prim.GetParent().GetName() if prim.GetParent() else "" - if parent_name in DISABLE_BODIES and prim.HasAPI(UsdPhysics.CollisionAPI): - prim.GetAttribute("physics:collisionEnabled").Set(False) - - -def _apply_mesh_collision_to_meshes(stage, root_path: str, mesh_collision_cfg): - """Apply a mesh collision approximation to meshes that already have CollisionAPI. - - Only modifies meshes that were explicitly marked for collision in the - original USD. This avoids accidentally adding collision to large-scale - visual duplicate meshes present in simready assets. - """ - root_prim = stage.GetPrimAtPath(root_path) - for prim in Usd.PrimRange(root_prim): - if not prim.IsA(UsdGeom.Mesh): - continue - if not prim.HasAPI(UsdPhysics.CollisionAPI): - continue - prim_path = str(prim.GetPath()) - schemas.define_mesh_collision_properties(prim_path, mesh_collision_cfg, stage) - - -def _apply_collision_props_recursive(stage, root_path: str, collision_props): - """Apply collision properties to every prim that has CollisionAPI.""" - root_prim = stage.GetPrimAtPath(root_path) - for prim in Usd.PrimRange(root_prim): - if prim.HasAPI(UsdPhysics.CollisionAPI): - schemas.modify_collision_properties(str(prim.GetPath()), collision_props) - - -@clone -def spawn_usd_with_physics( - prim_path: str, - cfg: UsdFileCfg, - translation: tuple[float, float, float] | None = None, - orientation: tuple[float, float, float, float] | None = None, - **kwargs, -) -> Usd.Prim: - """Load a DisplayPort USD and set up physics APIs. - - Handles both preprocessed (fixed) and simready assets by: - 1. Removing embedded PhysicsScene prims - 2. Stripping child RigidBodyAPI so only the root carries it - 3. Applying RigidBody + Mass on root - 4. Applying collision properties recursively to all collision prims - 5. Choosing a mesh collision approximation per body: kinematic (fixed) - bodies get an exact triangle-mesh collider; dynamic bodies get SDF - """ - usd_path = cfg.usd_path - file_status = check_file_path(usd_path) - if file_status == 0: - raise FileNotFoundError(f"USD file not found: {usd_path}") - if file_status == 2: - usd_path = retrieve_file_path(usd_path, force_download=False) - - stage = get_current_stage() - if not stage.GetPrimAtPath(prim_path).IsValid(): - create_prim( - prim_path, - usd_path=usd_path, - translation=translation, - orientation=orientation, - scale=cfg.scale, - stage=stage, - ) - - # De-instance first so all subsequent authoring reaches instanced geometry - # (the plug ships its meshes as USD instances). - _deinstance(stage, prim_path) - - _remove_embedded_physics_scenes(stage, prim_path) - _strip_child_rigid_bodies(stage, prim_path) - - if cfg.rigid_props is not None: - schemas.define_rigid_body_properties(prim_path, cfg.rigid_props) - if cfg.mass_props is not None: - schemas.define_mass_properties(prim_path, cfg.mass_props) - - # If no mesh in the asset has CollisionAPI, add it to all meshes - # (handles preprocessed/fixed USDs with no collision setup). - # If some meshes already have it (simready), only those get a collider. - root_prim = stage.GetPrimAtPath(prim_path) - has_any_collision = any(p.HasAPI(UsdPhysics.CollisionAPI) for p in Usd.PrimRange(root_prim) if p.IsA(UsdGeom.Mesh)) - if not has_any_collision: - for p in Usd.PrimRange(root_prim): - if p.IsA(UsdGeom.Mesh): - UsdPhysics.CollisionAPI.Apply(p) - - # Pick the mesh collision approximation per body. - # - # Socket (kinematic): exact triangle-mesh preserves the concave receptacle - # cavity (a convex hull would fill the opening). Triangle mesh also does not - # require a watertight surface, which the converted CAD meshes are not. - # - # Plug (dynamic): convexDecomposition. ConvexHull fills the blade shroud recess - # solid (spans 92% of bbox) and rams the socket tongue (Body5), ejecting the - # plug. SDF at 512 resolution is leaky on the 0.4 mm shroud walls, causing the - # plug to float or fall through. ConvexDecomposition gives solid convex pieces - # (reliable contact) while preserving the gross concavity of the blade recess - # and overmold underside so they mate correctly with the socket. - is_kinematic = cfg.rigid_props is not None and bool(cfg.rigid_props.kinematic_enabled) - if is_kinematic: - mesh_collision_cfg = schemas_cfg.TriangleMeshPropertiesCfg() - else: - # convexDecomposition: solid convex pieces give reliable (non-leaky) - # contact, while the decomposition preserves the gross concavity (blade - # shroud recess + overmold underside recess) that the socket tongue and - # top face must tuck into. High voxel resolution + small min_thickness so - # the 0.4 mm shroud walls and recesses are not merged solid. - mesh_collision_cfg = schemas_cfg.ConvexDecompositionPropertiesCfg( - max_convex_hulls=128, - voxel_resolution=1_000_000, - min_thickness=0.0001, - hull_vertex_limit=64, - shrink_wrap=True, - ) - _apply_mesh_collision_to_meshes(stage, prim_path, mesh_collision_cfg) - - if cfg.collision_props is not None: - _apply_collision_props_recursive(stage, prim_path, cfg.collision_props) - - return stage.GetPrimAtPath(prim_path) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index a2dd4985a1e8..a2558de013f6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -5,9 +5,8 @@ """Joint-space DisplayPort insertion environment for Flexiv Rizon 4S + Grav gripper. -Mirrors the GB300 ``config/rizon_4s/joint_pos_env_cfg.py`` but builds on the -DisplayPort base env. Relative joint-position control of the 7-DoF arm; the -plug is grasped at reset and the goal is the verified seated mate. +Relative joint-position control of the 7-DoF arm; the plug is grasped at reset +and the goal is the verified seated mate. """ import math @@ -40,10 +39,9 @@ # matching the verified drop-test seated pose), and the vertical clearance the # plug starts above the socket. # -# CALIBRATE: _GEOMETRY_POS is seeded from the GB300 Hubble cable-insertion -# station and must be re-measured for the real DisplayPort fixture (reachable by -# the Flexiv, socket opening facing +Z). Verify the reset poses against the live -# sim (see scripts/dp_probe_pose_geometry.py) before training. +# CALIBRATE: _GEOMETRY_POS must be re-measured for the real DisplayPort fixture +# (reachable by the Flexiv, socket opening facing +Z). Verify reset poses in sim +# before training. _GEOMETRY_POS = (0.475, 0.125, 0.06) _SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) # opening faces +Z (top-down insertion) _PLUG_CLEARANCE_Z = 0.068 @@ -58,63 +56,6 @@ # the verified seated pose. Kept identical to the task-space env. _INSERTION_LENGTH = 0.011 -# --------------------------------------------------------------------------- -# Sim-to-real action model toggle (ported from IsaacLab_ashwin gear-assembly -# ``sysid_physx_env_cfg.py``) -# --------------------------------------------------------------------------- -# Master switch. Flip to ``True`` to enable the sim-to-real action pipeline -# (mirrors IsaacLab_ashwin ``Rizon4sGearAssemblyROSInferenceSysIDPhysXShapedEnvCfg``): -# 1. Sim rate -> 200 Hz PhysX physics with decimation 4 => 50 Hz control, -# matching the Flexiv deployment command loop. -# 2. Action latency -> ``ShapedDelayedRelativeJointPositionActionCfg`` delays -# the applied joint target by ``USE_SIM2REAL_ACTION_LATENCY_S`` seconds, -# approximating the real robot's command loop lag. -# 3. Command shaping -> per-step velocity / acceleration clamping of the arm -# joint targets (matches the collection-time command limits). -# 4. SysID PD gains -> replaces the stock arm PD (1320/600/216) with the -# PhysX SysID-tuned per-joint stiffness/damping for the Flexiv Rizon 4S. -# -# Leave ``False`` to keep the current behavior exactly (plain -# ``RelativeJointPositionActionCfg`` + stock actuator PD gains + 240 Hz / dec 8). -# This single flag is the only thing you need to change to revert. -USE_SIM2REAL_ACTION_MODEL = False - -# Sim rate for the sim-to-real deployment loop. 200 Hz PhysX physics with -# decimation 4 gives a 50 Hz effective control rate (== ashwin gear assembly). -# Uses PhysX implicit actuators (not Newton). At 50 Hz, a 20 ms latency maps to -# exactly one control step. -USE_SIM2REAL_PHYSICS_FREQ_HZ = 200.0 -USE_SIM2REAL_DECIMATION = 4 - -# Command latency in seconds. 20 ms = one 50 Hz control sample in ashwin. -USE_SIM2REAL_ACTION_LATENCY_S = 0.02 -# Command-target slew limits applied to the arm (rad/s and rad/s^2). Zero -# disables the respective limit. Deployment values from ashwin gear assembly. -USE_SIM2REAL_COMMAND_VELOCITY_LIMIT = 2.0 -USE_SIM2REAL_COMMAND_ACCELERATION_LIMIT = 3.0 - -# PhysX SysID-tuned per-joint PD gains for the Flexiv Rizon 4S arm. Values from -# IsaacLab_ashwin ``input/actuator_models/flexiv/manual/ -# flexiv_pd_only_gravityoff_high_cmdlimits_tuned_physx.yaml``. -_SIM2REAL_ARM_STIFFNESS = { - "joint1": 6051.500977, - "joint2": 3004.328857, - "joint3": 7032.64209, - "joint4": 4346.786133, - "joint5": 6829.847656, - "joint6": 3769.23291, - "joint7": 6181.429199, -} -_SIM2REAL_ARM_DAMPING = { - "joint1": 121.620995, - "joint2": 220.929214, - "joint3": 162.582214, - "joint4": 186.334442, - "joint5": 199.962311, - "joint6": 118.462029, - "joint7": 152.861771, -} - ## # Pre-defined configs ## @@ -345,14 +286,6 @@ class Rizon4sGravDisplayportInsertionEnvCfg(DisplayportInsertionEnvCfg): def __post_init__(self): super().__post_init__() - if USE_SIM2REAL_ACTION_MODEL: - # Deployment sim rate: 200 Hz PhysX physics, decimation 4 => 50 Hz - # control loop (overrides the base 240 Hz / decimation 8). At 50 Hz a - # 20 ms latency maps to exactly one control step. - self.decimation = USE_SIM2REAL_DECIMATION - self.sim.dt = 1.0 / USE_SIM2REAL_PHYSICS_FREQ_HZ - self.sim.render_interval = self.decimation - self.end_effector_body_name = "flange" self.num_arm_joints = 7 # CALIBRATE: flange position in the DisplayPort plug's local frame. @@ -404,24 +337,12 @@ def __post_init__(self): self.joint_action_scale = 0.025 _arm_joint_names = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] - if USE_SIM2REAL_ACTION_MODEL: - # Delayed + velocity/acceleration-shaped relative joint action. - self.actions.arm_action = mdp.ShapedDelayedRelativeJointPositionActionCfg( - asset_name="robot", - joint_names=_arm_joint_names, - scale=self.joint_action_scale, - use_zero_offset=True, - latency_s=USE_SIM2REAL_ACTION_LATENCY_S, - command_velocity_limit=USE_SIM2REAL_COMMAND_VELOCITY_LIMIT, - command_acceleration_limit=USE_SIM2REAL_COMMAND_ACCELERATION_LIMIT, - ) - else: - self.actions.arm_action = mdp.RelativeJointPositionActionCfg( - asset_name="robot", - joint_names=_arm_joint_names, - scale=self.joint_action_scale, - use_zero_offset=True, - ) + self.actions.arm_action = mdp.RelativeJointPositionActionCfg( + asset_name="robot", + joint_names=_arm_joint_names, + scale=self.joint_action_scale, + use_zero_offset=True, + ) self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( prim_path="{ENV_REGEX_NS}/Robot", @@ -477,22 +398,6 @@ def __post_init__(self): damping=0.0, ) - if USE_SIM2REAL_ACTION_MODEL: - # Replace the stock arm PD (shoulder 1320 / elbow 600 / wrist 216) - # with the PhysX SysID-tuned per-joint gains. Values are keyed by - # joint name so each implicit actuator group picks up its own gains. - for _group, _joints in ( - ("shoulder", ("joint1", "joint2")), - ("elbow", ("joint3", "joint4")), - ("wrist", ("joint5", "joint6", "joint7")), - ): - self.scene.robot.actuators[_group].stiffness = { - _j: _SIM2REAL_ARM_STIFFNESS[_j] for _j in _joints - } - self.scene.robot.actuators[_group].damping = { - _j: _SIM2REAL_ARM_DAMPING[_j] for _j in _joints - } - self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( pos=_SOCKET_ROOT, rot=_SOCKET_ROT, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/__init__.py deleted file mode 100644 index 0968f9c38d13..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/__init__.py +++ /dev/null @@ -1,72 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -import gymnasium as gym - -from . import agents - -## -# Register Gym environments. -## - -gym.register( - id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravCableInsertionEnvCfg", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", - }, -) - -gym.register( - id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-Play-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravCableInsertionEnvCfg_PLAY", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", - }, -) - -gym.register( - id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-ROS-Inference-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:Rizon4sGravCableInsertionROSInferenceEnvCfg", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", - }, -) - -gym.register( - id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-TaskSpace-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceCableInsertionEnvCfg", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", - }, -) - -gym.register( - id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-TaskSpace-Play-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceCableInsertionEnvCfg_PLAY", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", - }, -) - -gym.register( - id="Isaac-Deploy-CableInsertion-Rizon4s-Grav-TaskSpace-ROS-Inference-v0", - entry_point="isaaclab.envs:ManagerBasedRLEnv", - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.task_space_ros_inference_env_cfg:Rizon4sTaskSpaceCableInsertionROSInferenceEnvCfg", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravCableInsertionRNNPPORunnerCfg", - }, -) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/__init__.py deleted file mode 100644 index ae37de6e63d1..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Package containing agent configurations for RL with Rizon 4s for cable insertion.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py deleted file mode 100644 index 9a013ac1fedd..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/agents/rsl_rl_ppo_cfg.py +++ /dev/null @@ -1,49 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from isaaclab.utils import configclass - -from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg - - -@configclass -class Rizon4sGravCableInsertionRNNPPORunnerCfg(RslRlOnPolicyRunnerCfg): - num_steps_per_env = 512 - max_iterations = 1500 - save_interval = 50 - experiment_name = "cable_insertion_rizon4s" - clip_actions = 1.0 - resume = False - obs_groups = { - "policy": ["policy"], - "critic": ["critic"], - } - policy = RslRlPpoActorCriticRecurrentCfg( - state_dependent_std=True, - init_noise_std=1.0, - actor_obs_normalization=True, - critic_obs_normalization=True, - actor_hidden_dims=[256, 128, 64], - critic_hidden_dims=[256, 128, 64], - noise_std_type="log", - activation="elu", - rnn_type="lstm", - rnn_hidden_dim=256, - rnn_num_layers=2, - ) - algorithm = RslRlPpoAlgorithmCfg( - value_loss_coef=1.0, - use_clipped_value_loss=True, - clip_param=0.2, - entropy_coef=0.0, - num_learning_epochs=8, - num_mini_batches=16, - learning_rate=5.0e-4, - schedule="adaptive", - gamma=0.99, - lam=0.95, - desired_kl=0.008, - max_grad_norm=1.0, - ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py deleted file mode 100644 index e7e74284db33..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/joint_pos_env_cfg.py +++ /dev/null @@ -1,364 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -import torch - -import isaaclab.sim as sim_utils -from isaaclab.actuators import ImplicitActuatorCfg -from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.managers import EventTermCfg as EventTerm -from isaaclab.managers import SceneEntityCfg -from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.utils import configclass - -import isaaclab_tasks.contrib.deploy.mdp as mdp -import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( - CableInsertionEnvCfg, - compute_plug_pose, - compute_socket_root, -) - -# --------------------------------------------------------------------------- -# Flexiv workspace layout (Hubble Lab cable insertion station) -# --------------------------------------------------------------------------- -_GEOMETRY_POS = (0.481, -0.073, 0.071) -_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) # -90 deg Z -_PLUG_CLEARANCE_Z = 0.068 - -_SOCKET_ROOT = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) -_PLUG_ROOT, _PLUG_ROT = compute_plug_pose( - _GEOMETRY_POS, _SOCKET_ROT, z_clearance=_PLUG_CLEARANCE_Z, -) - -## -# Pre-defined configs -## -from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip - - -## -# Gripper-specific helper functions -## - - -def set_finger_joint_pos_grav( - joint_pos: torch.Tensor, - reset_ind_joint_pos: list[int], - finger_joints: list[int], - finger_joint_position: float, -): - """Set finger joint positions for the Grav gripper. - - Args: - joint_pos: Joint positions tensor for the reset envs slice. - reset_ind_joint_pos: Row indices into the sliced ``joint_pos`` tensor. - finger_joints: List of all gripper joint indices (6 joints total). - finger_joint_position: Target position for the main finger joint [rad]. - - Note: - Grav gripper joint structure (indices from ``finger_joints`` list): - ``[0]`` ``finger_joint`` - main controllable joint - ``[1]`` ``left_inner_knuckle_joint`` - mimic with -1 gearing - ``[2]`` ``right_inner_knuckle_joint`` - mimic with -1 gearing - ``[3]`` ``right_outer_knuckle_joint`` - mimic with -1 gearing - ``[4]`` ``left_outer_finger_joint`` - mimic with +1 gearing - ``[5]`` ``right_outer_finger_joint`` - mimic with +1 gearing - """ - for idx in reset_ind_joint_pos: - if len(finger_joints) < 6: - raise ValueError(f"Grav gripper requires at least 6 finger joints, got {len(finger_joints)}") - - joint_pos[idx, finger_joints[0]] = finger_joint_position - - joint_pos[idx, finger_joints[1]] = finger_joint_position - joint_pos[idx, finger_joints[2]] = finger_joint_position - joint_pos[idx, finger_joints[3]] = finger_joint_position - - joint_pos[idx, finger_joints[4]] = -finger_joint_position - joint_pos[idx, finger_joints[5]] = -finger_joint_position - - -## -# Environment configuration -## - - -@configclass -class EventCfg: - """Configuration for events.""" - - plug_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("gb300_plug", body_names=".*"), - "static_friction_range": (0.1, 0.1), - "dynamic_friction_range": (0.1, 0.1), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - socket_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("gb300_socket", body_names=".*"), - "static_friction_range": (0.1, 0.1), - "dynamic_friction_range": (0.1, 0.1), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - robot_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), - "static_friction_range": (0.75, 0.75), - "dynamic_friction_range": (0.75, 0.75), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") - - randomize_socket_pose = EventTerm( - func=mdp.reset_root_state_uniform, - mode="reset", - params={ - "pose_range": { - "x": [-0.01, 0.01], - "y": [-0.01, 0.01], - "z": [-0.01, 0.01], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], - }, - "velocity_range": {}, - "asset_cfg": SceneEntityCfg("gb300_socket"), - }, - ) - - randomize_plug_pose = EventTerm( - func=mdp.reset_root_state_uniform, - mode="reset", - params={ - "pose_range": { - "x": [-0.02, 0.02], - "y": [-0.02, 0.02], - "z": [-0.01, 0.01], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], - }, - "velocity_range": {}, - "asset_cfg": SceneEntityCfg("gb300_plug"), - }, - ) - - set_robot_to_grasp_pose = EventTerm( - func=mdp.set_robot_to_object_grasp_pose, - mode="reset", - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, - "target_object_name": "gb300_plug", - "grasp_offset": [0.0, 0.0, 0.0], - }, - ) - - -@configclass -class TerminationsCfg: - """Configuration for termination terms.""" - - time_out = DoneTerm(func=mdp.time_out, time_out=True) - - plug_dropped = DoneTerm( - func=cable_terminations.reset_when_plug_dropped, - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "plug_asset_cfg": SceneEntityCfg("gb300_plug"), - "distance_threshold": 0.15, - "end_effector_body_name": "link7", - "grasp_offset": [0.0, 0.0, 0.0], - "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], - }, - ) - - plug_orientation_exceeded = DoneTerm( - func=cable_terminations.reset_when_plug_orientation_exceeded, - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "plug_asset_cfg": SceneEntityCfg("gb300_plug"), - "roll_threshold_deg": 15.0, - "pitch_threshold_deg": 15.0, - "yaw_threshold_deg": 180.0, - "end_effector_body_name": "link7", - "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], - }, - ) - - -@configclass -class Rizon4sGravCableInsertionEnvCfg(CableInsertionEnvCfg): - """Configuration for Flexiv Rizon 4s with Grav Gripper Cable Insertion Environment.""" - - def __post_init__(self): - super().__post_init__() - - self.end_effector_body_name = "flange" - self.num_arm_joints = 7 - # Flange position in the plug's local frame. - self.grasp_offset = [0.03, 0.002, -0.207] - # Identity: the target EEF orientation equals the plug orientation. - self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] - self.gripper_joint_setter_func = set_finger_joint_pos_grav - - self.plug_orientation_roll_threshold_deg = 15.0 - self.plug_orientation_pitch_threshold_deg = 15.0 - self.plug_orientation_yaw_threshold_deg = 180.0 - - # Observation configuration for Rizon 4s arm joints only - self.observations.policy.joint_pos.params["asset_cfg"].joint_names = [ - "joint1", - "joint2", - "joint3", - "joint4", - "joint5", - "joint6", - "joint7", - ] - self.observations.policy.joint_vel.params["asset_cfg"].joint_names = [ - "joint1", - "joint2", - "joint3", - "joint4", - "joint5", - "joint6", - "joint7", - ] - - self.events = EventCfg() - - self.terminations = TerminationsCfg() - - self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( - self.plug_orientation_roll_threshold_deg - ) - self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( - self.plug_orientation_pitch_threshold_deg - ) - self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( - self.plug_orientation_yaw_threshold_deg - ) - - self.joint_action_scale = 0.025 - self.actions.arm_action = mdp.RelativeJointPositionActionCfg( - asset_name="robot", - joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"], - scale=self.joint_action_scale, - use_zero_offset=True, - ) - - self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( - prim_path="{ENV_REGEX_NS}/Robot", - spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=True, - max_depenetration_velocity=5.0, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=4, - solver_velocity_iteration_count=1, - max_contact_impulse=1e32, - ), - articulation_props=sim_utils.ArticulationRootPropertiesCfg( - enabled_self_collisions=False, - solver_position_iteration_count=4, - solver_velocity_iteration_count=1, - ), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), - ), - init_state=ArticulationCfg.InitialStateCfg( - joint_pos={ - "joint1": 0.0, - "joint2": -0.698, - "joint3": 0.0, - "joint4": 1.571, - "joint5": 0.0, - "joint6": 0.698, - "joint7": 0.0, - }, - pos=(0.0, 0.0, 0.0), - rot=(0.0, 0.0, 0.0, 1.0), - ), - ) - - # Grav gripper actuator configuration (implicit - PhysX built-in joint drives). - self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( - joint_names_expr=["finger_joint"], - effort_limit_sim=2.0, - velocity_limit_sim=1.0, - stiffness=2e3, - damping=1e1, - ) - - self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( - joint_names_expr=[".*_knuckle_joint"], - effort_limit_sim=1.0, - velocity_limit_sim=1.0, - stiffness=0.0, - damping=0.0, - ) - - self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_SOCKET_ROOT, - rot=_SOCKET_ROT, - ) - self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_PLUG_ROOT, - rot=_PLUG_ROT, - ) - - # Grav gripper widths (joint angles). - # grasp: fingers wide open for approach. - # hold: fingers touching plug surface (no mesh overlap). - # close: fully-closed target that the actuator drives toward. - self.hand_grasp_width = 0.3 - self.hand_hold_width = -0.08 - self.hand_close_width = -0.155 - - self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name - self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints - self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset - self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset - self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func - self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - - self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name - self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset - self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset - - self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name - self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset - - -@configclass -class Rizon4sGravCableInsertionEnvCfg_PLAY(Rizon4sGravCableInsertionEnvCfg): - """Play configuration for Flexiv Rizon 4s cable insertion.""" - - def __post_init__(self): - super().__post_init__() - self.scene.num_envs = 50 - self.scene.env_spacing = 2.5 - self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py deleted file mode 100644 index 0bce40a86108..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/ros_inference_env_cfg.py +++ /dev/null @@ -1,112 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -import math - -from isaaclab.assets import RigidObjectCfg -from isaaclab.utils import configclass - -from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( - compute_plug_pose, - compute_socket_root, -) - -from .joint_pos_env_cfg import Rizon4sGravCableInsertionEnvCfg - -# --------------------------------------------------------------------------- -# Hubble Lab socket/plug positions (same -90 deg Z rotation as training config) -# --------------------------------------------------------------------------- -_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) -_HUBBLE_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) -_HUBBLE_PLUG_CLEARANCE_Z = 0.068 - -_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) -_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( - _HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT, z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, -) - - -@configclass -class Rizon4sGravCableInsertionROSInferenceEnvCfg(Rizon4sGravCableInsertionEnvCfg): - """ROS / Isaac Manipulator inference fields plus deployment alignment for NVIDIA Hubble Lab. - - This configuration: - - - Exposes variables needed for Isaac Manipulator ROS inference. - - Aligns robot mounting pose with the Flexiv Rizon 4s installation at NVIDIA Hubble Lab - (wall-mount with 90° rotation about negative X-axis). - - Overrides plug and socket initial poses for a fixed/deterministic setup. - """ - - def __post_init__(self): - super().__post_init__() - - # Variables used by Isaac Manipulator for on-robot inference - self.obs_order = ["arm_dof_pos", "arm_dof_vel", "socket_pos", "socket_quat"] - self.policy_action_space = "joint" - self.arm_joint_names = self.observations.policy.joint_pos.params["asset_cfg"].joint_names - self.action_space = self.num_arm_joints - # State: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat + 3 plug pos + 4 plug quat = 28 - self.state_space = 28 - # Observation: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat = 21 - self.observation_space = 21 - - self.joint_action_scale = self.actions.arm_action.scale - self.action_scale_joint_space = [self.joint_action_scale] * self.action_space - - # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- - # Lab home joint pose (radians); aligns sim defaults / reset with the physical stand. - self.scene.robot.init_state.joint_pos = { - "joint1": math.radians(-90.0), - "joint2": math.radians(90.0), - "joint3": 0.0, - "joint4": math.radians(90.0), - "joint5": 0.0, - "joint6": 0.0, - "joint7": 0.0, - } - - # Orientation of robot is based on the Flexiv Rizon 4s mount in the Hubble Lab - self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) - self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) - - # Socket/plug positions account for GB300 USD root-to-geometry offset. - # Same −90° Z rotation as the training config. - self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_SOCKET_ROOT, - rot=_HUBBLE_SOCKET_ROT, - ) - - self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_PLUG_ROOT, - rot=_HUBBLE_PLUG_ROT, - ) - - # Increase IK iterations for the grasp event — the Hubble home pose is - # further from typical IK solutions than the table-mount default. - self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - - # Fixed asset parameters for ROS inference (geometry center, not USD root) - self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) - - pose_range = self.events.randomize_socket_pose.params["pose_range"] - self.fixed_asset_init_pos_range = [ - pose_range["x"][1], - pose_range["y"][1], - pose_range["z"][1], - ] - self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] - self.fixed_asset_init_orn_deg_range = [ - math.degrees(pose_range["roll"][1]), - math.degrees(pose_range["pitch"][1]), - math.degrees(pose_range["yaw"][1]), - ] - - socket_pos_noise = self.observations.policy.socket_pos.noise.noise_cfg.n_max - self.fixed_asset_pos_obs_noise_level = [ - socket_pos_noise, - socket_pos_noise, - socket_pos_noise, - ] diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py deleted file mode 100644 index 65362244fd5a..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_env_cfg.py +++ /dev/null @@ -1,425 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Task-space cable insertion environment for Flexiv Rizon 4S with Grav Gripper. - -Uses Operational Space Control (OSC) with 6D rotation observations and an -at-goal curriculum. -""" - -import math - -import isaaclab.sim as sim_utils -from isaaclab.actuators import ImplicitActuatorCfg -from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.controllers.operational_space_cfg import OperationalSpaceControllerCfg -from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg -from isaaclab.managers import EventTermCfg as EventTerm -from isaaclab.managers import ObservationGroupCfg as ObsGroup -from isaaclab.managers import ObservationTermCfg as ObsTerm -from isaaclab.managers import SceneEntityCfg -from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.utils import configclass - -import isaaclab_tasks.contrib.deploy.mdp as mdp -import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( - PLUG_GOAL_ROT, - PLUG_INSERTION_OFFSET, - SOCKET_INSERTION_OFFSET, - CableInsertionEnvCfg, -) - -from isaaclab_tasks.contrib.deploy.cable_insertion.config.rizon_4s.joint_pos_env_cfg import ( - _PLUG_ROOT, - _PLUG_ROT, - _SOCKET_ROOT, - _SOCKET_ROT, - set_finger_joint_pos_grav, -) - -# --------------------------------------------------------------------------- -# Rizon 4S arm joint names (convenience) -# --------------------------------------------------------------------------- -_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] - -# --------------------------------------------------------------------------- -# OSC gains -# --------------------------------------------------------------------------- -# d_gain = 2 * sqrt(p_gain) * damping_ratio -_STIFFNESS = (300.0, 300.0, 300.0, 30.0, 30.0, 30.0) -_DAMPING_RATIO_TRANS = 35.0 / (2.0 * math.sqrt(300.0)) # ~1.010 -_DAMPING_RATIO_ROT = 1.1 / (2.0 * math.sqrt(30.0)) # ~0.100 -_DAMPING_RATIO = ( - _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, - _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, -) - -# Production action_scale = [0.01]*6 for both position and rotation -_ACTION_SCALE = 0.025 - -# GB300 plug insertion length (height of plug mesh along insertion axis) -_INSERTION_LENGTH = 0.008 - -## -# Pre-defined configs -## -from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip - - -## -# Observation configuration -## - - -@configclass -class TaskSpaceObservationsCfg: - """Task-space observations with 6D rotation representation.""" - - @configclass - class PolicyCfg(ObsGroup): - """Actor observations: EEF pose + socket keypoint frame (18 dims).""" - - eef_pos = ObsTerm( - func=mdp.eef_pos_w, - params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, - ) - eef_rot_6d = ObsTerm( - func=mdp.eef_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, - ) - socket_kp_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, - ) - socket_kp_rot_6d = ObsTerm( - func=mdp.rigid_object_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket")}, - ) - - def __post_init__(self): - self.enable_corruption = False - self.concatenate_terms = True - - @configclass - class CriticCfg(ObsGroup): - """Critic observations: joint state + both keypoint frames (32 dims).""" - - joint_pos = ObsTerm( - func=mdp.joint_pos, - params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, - ) - joint_vel = ObsTerm( - func=mdp.joint_vel, - params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, - ) - socket_kp_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket"), "offset": SOCKET_INSERTION_OFFSET}, - ) - socket_kp_rot_6d = ObsTerm( - func=mdp.rigid_object_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("gb300_socket")}, - ) - plug_kp_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("gb300_plug"), "offset": PLUG_INSERTION_OFFSET}, - ) - plug_kp_rot_6d = ObsTerm( - func=mdp.rigid_object_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("gb300_plug")}, - ) - - policy: PolicyCfg = PolicyCfg() - critic: CriticCfg = CriticCfg() - - -## -# Event configuration -## - - -@configclass -class TaskSpaceEventCfg: - """Events for the task-space cable insertion environment.""" - - plug_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("gb300_plug", body_names=".*"), - "static_friction_range": (0.001, 0.001), - "dynamic_friction_range": (0.001, 0.001), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - socket_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("gb300_socket", body_names=".*"), - "static_friction_range": (0.001, 0.001), - "dynamic_friction_range": (0.001, 0.001), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - robot_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), - "static_friction_range": (0.75, 0.75), - "dynamic_friction_range": (0.75, 0.75), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") - - randomize_socket_pose = EventTerm( - func=mdp.reset_root_state_uniform, - mode="reset", - params={ - "pose_range": { - "x": [-0.01, 0.01], - "y": [-0.01, 0.01], - "z": [-0.01, 0.01], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], - }, - "velocity_range": {}, - "asset_cfg": SceneEntityCfg("gb300_socket"), - }, - ) - - reset_plug_curriculum = EventTerm( - func=mdp.reset_plug_at_goal_curriculum, - mode="reset", - params={ - "plug_cfg": SceneEntityCfg("gb300_plug"), - "socket_cfg": SceneEntityCfg("gb300_socket"), - "at_goal_prob": 0.8, - "insertion_axis": [0.0, 0.0, -1.0], - "insertion_length": _INSERTION_LENGTH, - "socket_insertion_offset": SOCKET_INSERTION_OFFSET, - "plug_insertion_offset": PLUG_INSERTION_OFFSET, - "goal_rot": list(PLUG_GOAL_ROT), - "normal_pose_range": { - "x": [-0.01, 0.01], - "y": [-0.01, 0.01], - "z": [-0.01, 0.01], - }, - }, - ) - - set_robot_to_grasp_pose = EventTerm( - func=mdp.set_robot_to_object_grasp_pose, - mode="reset", - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, - "target_object_name": "gb300_plug", - "grasp_offset": [0.0, 0.0, 0.0], - }, - ) - - -## -# Terminations -## - - -@configclass -class TaskSpaceTerminationsCfg: - """Termination terms for the task-space cable insertion.""" - - time_out = DoneTerm(func=mdp.time_out, time_out=True) - - plug_dropped = DoneTerm( - func=cable_terminations.reset_when_plug_dropped, - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "plug_asset_cfg": SceneEntityCfg("gb300_plug"), - "distance_threshold": 0.15, - "end_effector_body_name": "link7", - "grasp_offset": [0.0, 0.0, 0.0], - "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], - }, - ) - - plug_orientation_exceeded = DoneTerm( - func=cable_terminations.reset_when_plug_orientation_exceeded, - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "plug_asset_cfg": SceneEntityCfg("gb300_plug"), - "roll_threshold_deg": 15.0, - "pitch_threshold_deg": 15.0, - "yaw_threshold_deg": 180.0, - "end_effector_body_name": "link7", - "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], - }, - ) - - -## -# Main environment configuration -## - - -@configclass -class Rizon4sTaskSpaceCableInsertionEnvCfg(CableInsertionEnvCfg): - """Task-space cable insertion with OSC control, 6D obs, curriculum, and production friction.""" - - def __post_init__(self): - super().__post_init__() - - # EEF / grasp settings (same as joint-space variant) - self.end_effector_body_name = "flange" - self.num_arm_joints = 7 - self.grasp_offset = [0.03, 0.002, -0.207] - self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] - self.gripper_joint_setter_func = set_finger_joint_pos_grav - - self.plug_orientation_roll_threshold_deg = 15.0 - self.plug_orientation_pitch_threshold_deg = 15.0 - self.plug_orientation_yaw_threshold_deg = 180.0 - - # ----- Observations: task-space with 6D rotation ----- - self.observations = TaskSpaceObservationsCfg() - - # ----- Actions: Operational Space Controller ----- - self.actions.arm_action = OperationalSpaceControllerActionCfg( - asset_name="robot", - joint_names=_ARM_JOINTS, - body_name="flange", - controller_cfg=OperationalSpaceControllerCfg( - target_types=["pose_rel"], - impedance_mode="fixed", - inertial_dynamics_decoupling=False, - motion_stiffness_task=_STIFFNESS, - motion_damping_ratio_task=_DAMPING_RATIO, - nullspace_control="none", - ), - position_scale=_ACTION_SCALE, - orientation_scale=_ACTION_SCALE, - ) - - # ----- Events: curriculum + production friction ----- - self.events = TaskSpaceEventCfg() - - # ----- Terminations ----- - self.terminations = TaskSpaceTerminationsCfg() - - self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( - self.plug_orientation_roll_threshold_deg - ) - self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( - self.plug_orientation_pitch_threshold_deg - ) - self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( - self.plug_orientation_yaw_threshold_deg - ) - - # ----- Scene: robot ----- - self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( - prim_path="{ENV_REGEX_NS}/Robot", - spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=True, - max_depenetration_velocity=5.0, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=4, - solver_velocity_iteration_count=1, - max_contact_impulse=1e32, - ), - articulation_props=sim_utils.ArticulationRootPropertiesCfg( - enabled_self_collisions=False, - solver_position_iteration_count=4, - solver_velocity_iteration_count=1, - ), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), - ), - init_state=ArticulationCfg.InitialStateCfg( - joint_pos={ - "joint1": 0.0, - "joint2": -0.698, - "joint3": 0.0, - "joint4": 1.571, - "joint5": 0.0, - "joint6": 0.698, - "joint7": 0.0, - }, - pos=(0.0, 0.0, 0.0), - rot=(0.0, 0.0, 0.0, 1.0), - ), - ) - - # Grav gripper actuator configuration - self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( - joint_names_expr=["finger_joint"], - effort_limit_sim=2.0, - velocity_limit_sim=1.0, - stiffness=2e3, - damping=1e1, - ) - self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( - joint_names_expr=[".*_knuckle_joint"], - effort_limit_sim=1.0, - velocity_limit_sim=1.0, - stiffness=0.0, - damping=0.0, - ) - - # ----- Workspace positions ----- - self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_SOCKET_ROOT, - rot=_SOCKET_ROT, - ) - self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_PLUG_ROOT, - rot=_PLUG_ROT, - ) - - # Gripper widths (same as joint-space variant) - self.hand_grasp_width = 0.3 - self.hand_hold_width = -0.08 - self.hand_close_width = -0.155 - - # Wire grasp event params - self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name - self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints - self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset - self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset - self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func - self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - - # Wire termination params - self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name - self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset - self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset - - self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name - self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset - - -@configclass -class Rizon4sTaskSpaceCableInsertionEnvCfg_PLAY(Rizon4sTaskSpaceCableInsertionEnvCfg): - """Play configuration for task-space cable insertion.""" - - def __post_init__(self): - super().__post_init__() - self.scene.num_envs = 50 - self.scene.env_spacing = 2.5 - self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py deleted file mode 100644 index 6812e21e6f21..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/rizon_4s/task_space_ros_inference_env_cfg.py +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Task-space ROS inference configuration for cable insertion with Flexiv Rizon 4S. - -Inherits from the task-space training config and adds Isaac Manipulator -metadata fields plus Hubble Lab deployment alignment. -""" - -import math - -from isaaclab.assets import RigidObjectCfg -from isaaclab.utils import configclass - -from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( - compute_plug_pose, - compute_socket_root, -) - -from .task_space_env_cfg import Rizon4sTaskSpaceCableInsertionEnvCfg, _ACTION_SCALE - -# --------------------------------------------------------------------------- -# Hubble Lab socket/plug positions (same as joint-space ROS inference) -# --------------------------------------------------------------------------- -_HUBBLE_GEOMETRY_POS = (0.928, 0.129, -0.1) -_HUBBLE_SOCKET_ROT = (0.0, 0.0, 0.70711, -0.70711) -_HUBBLE_PLUG_CLEARANCE_Z = 0.068 - -_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) -_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( - _HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT, z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, -) - - -@configclass -class Rizon4sTaskSpaceCableInsertionROSInferenceEnvCfg(Rizon4sTaskSpaceCableInsertionEnvCfg): - """Task-space ROS / Isaac Manipulator inference config for NVIDIA Hubble Lab. - - This configuration: - - - Exposes variables needed by Isaac Manipulator for on-robot inference - with task-space (OSC) control and 6D rotation observations. - - Aligns robot mounting pose with the Flexiv Rizon 4s installation at - NVIDIA Hubble Lab (wall-mount with 90 deg rotation about negative X-axis). - - Overrides plug and socket initial poses for a fixed/deterministic setup. - """ - - def __post_init__(self): - super().__post_init__() - - # Variables used by Isaac Manipulator for on-robot inference - self.obs_order = ["eef_pos", "eef_rot_6d", "socket_kp_pos", "socket_kp_rot_6d"] - self.policy_action_space = "task" - self.arm_joint_names = [ - "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7", - ] - # 6-DOF task-space actions (3 pos + 3 axis-angle rot) - self.action_space = 6 - # Critic: 7 jpos + 7 jvel + 3 socket_pos + 6 socket_rot6d + 3 plug_pos + 6 plug_rot6d = 32 - self.state_space = 32 - # Actor: 3 eef_pos + 6 eef_rot6d + 3 socket_pos + 6 socket_rot6d = 18 - self.observation_space = 18 - - self.action_scale = [_ACTION_SCALE] * self.action_space - - # --- NVIDIA Hubble Lab: Flexiv Rizon 4s mount --- - self.scene.robot.init_state.joint_pos = { - "joint1": math.radians(-145), - "joint2": math.radians(80), - "joint3": math.radians(-5), - "joint4": math.radians(90.0), - "joint5": math.radians(55), - "joint6": 0.0, - "joint7": math.radians(170), - } - - self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) - self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) - - self.scene.gb300_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_SOCKET_ROOT, - rot=_HUBBLE_SOCKET_ROT, - ) - - self.scene.gb300_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_PLUG_ROOT, - rot=_HUBBLE_PLUG_ROT, - ) - - self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - - # Fixed asset parameters for ROS inference (geometry center, not USD root) - self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) - - pose_range = self.events.randomize_socket_pose.params["pose_range"] - self.fixed_asset_init_pos_range = [ - pose_range["x"][1], - pose_range["y"][1], - pose_range["z"][1], - ] - self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] - self.fixed_asset_init_orn_deg_range = [ - math.degrees(pose_range["roll"][1]), - math.degrees(pose_range["pitch"][1]), - math.degrees(pose_range["yaw"][1]), - ] - - # No observation noise in task-space production config - self.fixed_asset_pos_obs_noise_level = [0.0, 0.0, 0.0] diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step deleted file mode 100644 index 112e346026e8..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584N111_Displayport Cord_plug.step +++ /dev/null @@ -1,35031 +0,0 @@ -ISO-10303-21; -HEADER; -/* Generated by software containing ST-Developer - 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-#41099,#41100,#41101,#41102,#41103,#41104,#41105,#41106,#41107,#41108,#41109, -#41110,#41111,#41112,#41113,#41114,#41115,#41116,#41117,#41118), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-9.04117639919457, --8.99235526309643,-8.93611914970977,-8.87988365327034,-8.82505268479674, --8.768069200357,-8.71339197703183,-8.65791474483347,-8.60116956717802,-8.54699693590237, --8.49092238621017,-8.43421825363421,-8.37951735332504,-8.32267506381172, --8.26775153283141,-8.2123992190827,-8.15563195172235,-8.14282091729314), - .UNSPECIFIED.); -#9696=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41123,#41124,#41125,#41126,#41127, -#41128,#41129,#41130,#41131,#41132,#41133,#41134,#41135,#41136,#41137,#41138, -#41139,#41140,#41141,#41142,#41143,#41144,#41145,#41146,#41147,#41148,#41149, -#41150,#41151,#41152,#41153,#41154,#41155,#41156,#41157,#41158), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-2.91776622718373, --2.87600302303074,-2.8196548015793,-2.76535481816895,-2.70857657268227, --2.65280248308209,-2.59836856360977,-2.5410588861077,-2.48592635136429, --2.43031672533876,-2.37373264379216,-2.31927081354427,-2.26255908247899, --2.20676223270198,-2.15253743149218,-2.09580810342538,-2.04062633990345, --2.01906850662431),.UNSPECIFIED.); -#9697=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41159,#41160,#41161,#41162,#41163, -#41164,#41165,#41166,#41167,#41168,#41169,#41170,#41171,#41172,#41173,#41174, -#41175,#41176,#41177,#41178,#41179,#41180,#41181,#41182,#41183,#41184,#41185, -#41186,#41187,#41188,#41189,#41190,#41191,#41192,#41193,#41194), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-8.14282091729314, --8.10142497052951,-8.04546512106978,-7.98823015002843,-7.93361050112208, --7.87685753616287,-7.82161774098696,-7.76633917747705,-7.70950883009811, --7.65518665346933,-7.59929182499383,-7.5424791464431,-7.48792147224339, --7.43123785423347,-7.37552498992772,-7.32029527767427,-7.26288467186017, --7.24302368567869),.UNSPECIFIED.); -#9698=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41199,#41200,#41201,#41202,#41203, -#41204,#41205,#41206,#41207,#41208,#41209,#41210,#41211,#41212,#41213,#41214, -#41215,#41216,#41217,#41218,#41219,#41220,#41221,#41222,#41223,#41224,#41225, -#41226,#41227,#41228,#41229,#41230,#41231,#41232,#41233,#41234), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-3.81565938652345, --3.76602646561472,-3.71002073900145,-3.65587887494145,-3.59916477395425, --3.54375901169603,-3.48905432491385,-3.43214772515258,-3.37738903835939, --3.3210651730479,-3.26491054304048,-3.21073734377621,-3.15401404926449, --3.09844768469607,-3.04392614188999,-2.98684209893266,-2.93191922522364, --2.91776622718373),.UNSPECIFIED.); -#9699=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41235,#41236,#41237,#41238,#41239, -#41240,#41241,#41242,#41243,#41244,#41245,#41246,#41247,#41248,#41249,#41250, -#41251,#41252,#41253,#41254,#41255,#41256,#41257,#41258,#41259,#41260,#41261, -#41262,#41263,#41264,#41265,#41266,#41267,#41268,#41269,#41270), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-7.24302368567869, --7.20835194033662,-7.15247949881777,-7.09559945624391,-7.04120318385963, --6.98475540681733,-6.92873424099477,-6.87371408908117,-6.81652901859067, --6.76190743203782,-6.70624259742282,-6.64941709487303,-6.59514680122892, --6.53889249963166,-6.48246194687861,-6.42760577925399,-6.37059794244184, --6.34314517390453),.UNSPECIFIED.); -#9700=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41275,#41276,#41277,#41278,#41279, -#41280,#41281,#41282,#41283,#41284,#41285,#41286,#41287,#41288,#41289,#41290, -#41291,#41292,#41293,#41294,#41295,#41296,#41297,#41298,#41299,#41300,#41301, -#41302,#41303,#41304,#41305,#41306,#41307,#41308,#41309,#41310,#41311,#41312), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-4.71436780502447, --4.71428686170121,-4.65753478333104,-4.60167790876034,-4.54733619674812, --4.48993261110991,-4.43471543285779,-4.37934994821311,-4.32266672028401, --4.26811230483347,-4.21137884368295,-4.15547436356652,-4.10127468289949, --4.04452702071907,-3.98923223981044,-3.93425982854133,-3.87748028469978, --3.82283836491716,-3.81565938652345),.UNSPECIFIED.); -#9701=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41313,#41314,#41315,#41316,#41317, -#41318,#41319,#41320,#41321,#41322,#41323,#41324,#41325,#41326,#41327,#41328, -#41329,#41330,#41331,#41332,#41333,#41334,#41335,#41336,#41337,#41338,#41339, -#41340,#41341,#41342,#41343,#41344,#41345,#41346,#41347,#41348), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-6.34314517390453, --6.31579188813278,-6.2602874254117,-6.2034706582832,-6.14923075151512,-6.09312512575447, --6.0362049257486,-5.98146521541596,-5.92458411068418,-5.8695090573229,-5.81411523046871, --5.7572643955031,-5.70296566628344,-5.64696094156741,-5.59012439549629, --5.53547197896677,-5.47868697490452,-5.44331344768493),.UNSPECIFIED.); -#9702=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41353,#41354,#41355,#41356,#41357, -#41358,#41359,#41360,#41361,#41362,#41363,#41364,#41365,#41366,#41367,#41368, -#41369,#41370,#41371,#41372,#41373,#41374,#41375,#41376,#41377,#41378,#41379, -#41380,#41381,#41382,#41383,#41384,#41385,#41386,#41387,#41388), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-5.61140180539872, --5.60364698314612,-5.54908128394203,-5.49238002174879,-5.43755353667194, --5.38233727687583,-5.32569527332249,-5.26976860206493,-5.21357406663688, --5.15941094272408,-5.10274871776477,-5.04713156702673,-4.99277506309598, --4.93563006426054,-4.88065380374783,-4.82506318677762,-4.76864485210406, --4.71436780502447),.UNSPECIFIED.); -#9703=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41389,#41390,#41391,#41392,#41393, -#41394,#41395,#41396,#41397,#41398,#41399,#41400,#41401,#41402,#41403,#41404, -#41405,#41406,#41407,#41408,#41409,#41410,#41411,#41412,#41413,#41414,#41415, -#41416,#41417,#41418,#41419,#41420,#41421,#41422,#41423,#41424), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-5.44331344768493, --5.42321691968596,-5.36790042112936,-5.31039367916713,-5.25595164513624, --5.19999425445056,-5.14313830392732,-5.08868233335213,-5.03216224377955, --4.97787193307607,-4.92105434668961,-4.86575007767731,-4.81059926166407, --4.75381586123251,-4.69916818734387,-4.64208344992407,-4.58608544466006, --4.54365395870583),.UNSPECIFIED.); -#9704=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41429,#41430,#41431,#41432,#41433, -#41434,#41435,#41436,#41437,#41438,#41439,#41440,#41441,#41442,#41443,#41444, -#41445,#41446,#41447,#41448,#41449,#41450,#41451,#41452,#41453,#41454,#41455, -#41456,#41457,#41458,#41459,#41460,#41461,#41462,#41463,#41464), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-6.50782277162369, --6.49306992788063,-6.43820717239961,-6.3811843176305,-6.3267783232308,-6.27127361344711, --6.214640826208,-6.16054474518507,-6.10445506728911,-6.04830529544329,-5.99361456277227, --5.9367774636129,-5.88220463236902,-5.82686870485167,-5.77025289025516, --5.71620458565738,-5.66027161121729,-5.61140180539872),.UNSPECIFIED.); -#9705=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41465,#41466,#41467,#41468,#41469, -#41470,#41471,#41472,#41473,#41474,#41475,#41476,#41477,#41478,#41479,#41480, -#41481,#41482,#41483,#41484,#41485,#41486,#41487,#41488,#41489,#41490,#41491, -#41492,#41493,#41494,#41495,#41496,#41497,#41498,#41499,#41500), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-4.54365395870583, --4.53188810858809,-4.47512186038258,-4.41972869268966,-4.36487591872006, --4.30798783181354,-4.25324444376507,-4.19667516374889,-4.14054842513377, --4.08635952569675,-4.02960293098539,-3.97407024517093,-3.91943940501663, --3.86239530413073,-3.80750790459871,-3.75138433222959,-3.69508286569909, --3.64512052570169),.UNSPECIFIED.); -#9706=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41505,#41506,#41507,#41508,#41509, -#41510,#41511,#41512,#41513,#41514,#41515,#41516,#41517,#41518,#41519,#41520, -#41521,#41522,#41523,#41524,#41525,#41526,#41527,#41528,#41529,#41530,#41531, -#41532,#41533,#41534,#41535,#41536,#41537,#41538,#41539,#41540), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-7.40530595977972, --7.38319555510741,-7.32805911460266,-7.27140077836518,-7.21725638644675, --7.16150699065365,-7.10486551413,-7.05045332304325,-6.99392011598037,-6.9384476213864, --6.88336776276356,-6.82611141789096,-6.77177529771107,-6.71605520231773, --6.65935917464051,-6.60511967196492,-6.54882916936852,-6.50782277162369), - .UNSPECIFIED.); -#9707=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41541,#41542,#41543,#41544,#41545, -#41546,#41547,#41548,#41549,#41550,#41551,#41552,#41553,#41554,#41555,#41556, -#41557,#41558,#41559,#41560,#41561,#41562,#41563,#41564,#41565,#41566,#41567, -#41568,#41569,#41570,#41571,#41572,#41573,#41574,#41575,#41576,#41577,#41578), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-3.64512052570169, --3.64080875487721,-3.58401740171157,-3.52829694060604,-3.47379636617572, --3.41654707564801,-3.36146933472606,-3.30569844856011,-3.24917902763934, --3.19472387298545,-3.13785002353579,-3.08189601871186,-3.02742579293822, --2.96992427062601,-2.91461166312746,-2.85908400000971,-2.8023052371608, --2.74765825540258,-2.74479626660166),.UNSPECIFIED.); -#9708=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41583,#41584,#41585,#41586,#41587, -#41588,#41589,#41590,#41591,#41592,#41593,#41594,#41595,#41596,#41597,#41598, -#41599,#41600,#41601,#41602,#41603,#41604,#41605,#41606,#41607,#41608,#41609, -#41610,#41611,#41612,#41613,#41614,#41615,#41616,#41617,#41618), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-8.30130922675511, --8.27233830198329,-8.21698396324061,-8.16039453352095,-8.10636750941665, --8.05041971575323,-7.99396860994968,-7.9393969886162,-7.88268795606423, --7.82796981117276,-7.77274975468951,-7.71614653645048,-7.66210238245299, --7.60627831201631,-7.54930786011789,-7.49482688014936,-7.43821713639294, --7.40530595977972),.UNSPECIFIED.); -#9709=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41619,#41620,#41621,#41622,#41623, -#41624,#41625,#41626,#41627,#41628,#41629,#41630,#41631,#41632,#41633,#41634, -#41635,#41636,#41637,#41638,#41639,#41640,#41641,#41642,#41643,#41644,#41645, -#41646,#41647,#41648,#41649,#41650,#41651,#41652,#41653,#41654), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-2.74479626660166, --2.69081303778995,-2.63481615436723,-2.58050179446235,-2.52364154239775, --2.46825675485552,-2.41313905994325,-2.35626902888254,-2.30153932907308, --2.24454771823838,-2.18845647939049,-2.13421194976706,-2.07739124928017, --2.02190258216055,-1.96706347667236,-1.91007356054943,-1.85523384607809, --1.84510812478186),.UNSPECIFIED.); -#9710=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41659,#41660,#41661,#41662,#41663, -#41664,#41665,#41666,#41667,#41668,#41669,#41670,#41671,#41672,#41673,#41674, -#41675,#41676,#41677,#41678,#41679,#41680,#41681,#41682,#41683,#41684,#41685, -#41686,#41687,#41688,#41689,#41690,#41691,#41692,#41693,#41694), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-9.19805159198267, --9.16178252300754,-9.10601702969896,-9.04931994423118,-8.99504597337693, --8.93871509625335,-8.88307783282696,-8.82818187090922,-8.77112227919578, --8.71677292856665,-8.66123594546738,-8.60461631626531,-8.55051365542297, --8.49439598820572,-8.43839716892647,-8.38368656983206,-8.32682688129984, --8.30130922675511),.UNSPECIFIED.); -#9711=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41695,#41696,#41697,#41698,#41699, -#41700,#41701,#41702,#41703,#41704,#41705,#41706,#41707,#41708,#41709,#41710, -#41711,#41712,#41713,#41714,#41715,#41716,#41717,#41718,#41719,#41720,#41721, -#41722,#41723,#41724,#41725,#41726,#41727,#41728,#41729,#41730), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-1.84510812478186, --1.79874067492038,-1.74250691650117,-1.68824433950426,-1.63142073483831, --1.57577814296363,-1.52113563183639,-1.46397504349255,-1.40897752341559, --1.35290573038983,-1.29648426565405,-1.24210848367697,-1.18523660264758, --1.12939251367973,-1.07485204848212,-1.01747219685859,-0.962271047137726, --0.945059223290283),.UNSPECIFIED.); -#9712=B_SPLINE_CURVE_WITH_KNOTS('',3,(#41737,#41738,#41739,#41740,#41741, -#41742,#41743,#41744,#41745,#41746,#41747,#41748,#41749,#41750,#41751,#41752, -#41753,#41754,#41755,#41756,#41757,#41758,#41759,#41760,#41761,#41762,#41763, -#41764,#41765,#41766,#41767,#41768,#41769,#41770),.UNSPECIFIED.,.F.,.F., -(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-10.0277359644419,-9.98281927063621, 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-#44199,#44200,#44201,#44202,#44203,#44204,#44205,#44206,#44207,#44208,#44209, -#44210,#44211,#44212,#44213,#44214,#44215,#44216,#44217,#44218,#44219,#44220, -#44221,#44222,#44223,#44224,#44225,#44226,#44227,#44228,#44229), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-5.90409166807887, --5.85286328763566,-5.7963733235538,-5.74023730873347,-5.68517317030539, --5.62794329600869,-5.57323678220711,-5.51752682374863,-5.4606354595525, --5.40630790434746,-5.35000615891867,-5.29344885302849,-5.23854301713779, --5.18148434650761,-5.12658160299437,-5.0710260752141,-5.01413790823349, --5.00342668298012),.UNSPECIFIED.); -#9758=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44234,#44235,#44236,#44237,#44238, -#44239,#44240,#44241,#44242,#44243,#44244,#44245,#44246,#44247,#44248,#44249, -#44250,#44251,#44252,#44253,#44254,#44255,#44256,#44257,#44258,#44259,#44260, -#44261,#44262,#44263,#44264,#44265,#44266,#44267,#44268,#44269), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-6.06486176610628, --6.05621929910811,-6.00159804743873,-5.9448376289771,-5.89005685607431, --5.83478633832648,-5.77812650600827,-5.72402735694674,-5.66815191352671, --5.61110751293316,-5.55657535042417,-5.49991257495602,-5.44482596979443, --5.38963743064239,-5.33292108791245,-5.2772166608512,-5.22083849940868, --5.16763216787303),.UNSPECIFIED.); -#9759=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44270,#44271,#44272,#44273,#44274, -#44275,#44276,#44277,#44278,#44279,#44280,#44281,#44282,#44283,#44284,#44285, -#44286,#44287,#44288,#44289,#44290,#44291,#44292,#44293,#44294,#44295,#44296, -#44297,#44298,#44299,#44300,#44301,#44302,#44303,#44304,#44305), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-5.00342668298012, --4.95982903430748,-4.90367028649851,-4.84928314258665,-4.79237856593687, --4.73653765624987,-4.6819366409098,-4.62456285563972,-4.56936579823961, 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-#44351,#44352,#44353,#44354,#44355,#44356,#44357,#44358,#44359,#44360,#44361, -#44362,#44363,#44364,#44365,#44366,#44367,#44368,#44369,#44370,#44371,#44372, -#44373,#44374,#44375,#44376,#44377,#44378,#44379,#44380,#44381), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-4.10170041789109, --4.06595515310244,-4.00904974084041,-3.95428111111568,-3.89731556054852, --3.84119302882819,-3.78676696665553,-3.7297866679319,-3.67427705076926, --3.61905762349745,-3.56205863397891,-3.5072051080378,-3.45012016951086, --3.39390022196873,-3.33953937979583,-3.28259633769596,-3.22697966957969, --3.19983394651581),.UNSPECIFIED.); -#9762=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44386,#44387,#44388,#44389,#44390, -#44391,#44392,#44393,#44394,#44395,#44396,#44397,#44398,#44399,#44400,#44401, -#44402,#44403,#44404,#44405,#44406,#44407,#44408,#44409,#44410,#44411,#44412, -#44413,#44414,#44415,#44416,#44417,#44418,#44419,#44420,#44421), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-7.86031808413445, --7.83733675649951,-7.7820982090625,-7.72537052502001,-7.6711758813993,-7.61532564872636, --7.55861362806827,-7.5041076056677,-7.4474758459919,-7.39203137700971,-7.33685987808237, --7.27950613284819,-7.22514406386593,-7.16933229182115,-7.11258306489347, --7.05826316738979,-7.00188490814698,-6.9618653339684),.UNSPECIFIED.); -#9763=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44422,#44423,#44424,#44425,#44426, -#44427,#44428,#44429,#44430,#44431,#44432,#44433,#44434,#44435,#44436,#44437, -#44438,#44439,#44440,#44441,#44442,#44443,#44444,#44445,#44446,#44447,#44448, -#44449,#44450,#44451,#44452,#44453,#44454,#44455,#44456,#44457), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-3.19983394651581, --3.17203530734225,-3.11491318697904,-3.05994659831735,-3.00335741846532, --2.94699195418494,-2.89260767045099,-2.83565918659182,-2.77988544623409, --2.72513286126321,-2.6678368355193,-2.6127094033003,-2.55653735057567,-2.49998125384577, --2.44547795780699,-2.38847837389096,-2.332500032077,-2.29802685988005), - .UNSPECIFIED.); -#9764=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44462,#44463,#44464,#44465,#44466, -#44467,#44468,#44469,#44470,#44471,#44472,#44473,#44474,#44475,#44476,#44477, -#44478,#44479,#44480,#44481,#44482,#44483,#44484,#44485,#44486,#44487,#44488, -#44489,#44490,#44491,#44492,#44493,#44494,#44495,#44496,#44497), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-8.75764197168551, --8.7276752801901,-8.67219220388631,-8.61551175282289,-8.56139063675945, --8.50531629536194,-8.44890356106574,-8.39421584367564,-8.33738464801345, --8.28264992064582,-8.2273142104755,-8.17063115746547,-8.11651642782164, --8.06057834372834,-8.00366047957121,-7.94907634418075,-7.89235819042285, --7.86031808413445),.UNSPECIFIED.); -#9765=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44498,#44499,#44500,#44501,#44502, 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.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-9.65608635538518, --9.61883141740712,-9.56291273278396,-9.50609952478511,-9.45168153159685, --9.39520098451513,-9.33955486698196,-9.28451819689243,-9.22731031810282, --9.17289721263764,-9.1172189945329,-9.06049628858712,-9.00627440117708, --8.95001835240456,-8.8940369896582,-8.83919777104039,-8.782202607568,-8.75764197168551), - .UNSPECIFIED.); -#9767=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44574,#44575,#44576,#44577,#44578, -#44579,#44580,#44581,#44582,#44583,#44584,#44585,#44586,#44587,#44588,#44589, -#44590,#44591,#44592,#44593,#44594,#44595,#44596,#44597,#44598,#44599,#44600, -#44601,#44602,#44603,#44604,#44605,#44606,#44607,#44608,#44609), - .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(-1.39641011907751, --1.38329003459157,-1.32641150193856,-1.27096204395872,-1.21591120032493, --1.15897021968053,-1.1041739269336,-1.04732148577586,-0.991151573742253, 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-#44660,#44661,#44662),.UNSPECIFIED.,.F.,.F.,(4,2,2,4),(-0.14173098169904, --0.118772656123699,-0.0951177825631912,-0.0659984959687107), - .UNSPECIFIED.); -#9770=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44706,#44707,#44708,#44709,#44710, -#44711,#44712,#44713,#44714,#44715),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(6.88118562951916E-11, -0.00171988939016767,0.00358825838288262,0.00550163530890352,0.007324752829738), - .UNSPECIFIED.); -#9771=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44719,#44720,#44721,#44722), - .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.00983379838893141),.UNSPECIFIED.); -#9772=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44726,#44727,#44728,#44729,#44730, -#44731),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0096077852890026,0.0192155604729872, -0.0286706186294698),.UNSPECIFIED.); -#9773=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44735,#44736,#44737,#44738), - .UNSPECIFIED.,.F.,.F.,(4,4),(0.0684178123367325,0.0782516107256652), - .UNSPECIFIED.); -#9774=B_SPLINE_CURVE_WITH_KNOTS('',3,(#44741,#44742,#44743,#44744,#44745, 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sha256:366262475baa60b216e28517a2b622fc8f0e41a837311b6308914f63c00f2ec0 -size 286614 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd deleted file mode 100644 index 3fed08cbb637..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/2584n111_displayport_cord_socket_screws_removed_simready.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f2bd60706466dd0829b9e51720f54ddcfb22ccd24f8aae8153d69823995a8f07 -size 413443 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md deleted file mode 100644 index fa2d791e7f79..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/REPORT_socket.md +++ /dev/null @@ -1,128 +0,0 @@ -# SimReady Asset Report: 2584N111 DisplayPort Cord Socket - -## Deliverables - -| Artifact | Path | SHA-256 | -| --- | --- | --- | -| SimReady USD | `04_author_simready/2584n111_displayport_cord_socket_screws_removed_simready.usd` | `f2bd60706466dd0829b9e51720f54ddcfb22ccd24f8aae8153d69823995a8f07` | -| RTX render | `06_render_final/final.png` | `99eaddc80a75e38a5f37d5ca5fe30da5012d77c639890a800ca4ad198ea8a760` | -| Authoring report | `04_author_simready/authoring_report.json` | See bundle | -| Validation reports | `05_validate_final/` | See bundle | - -![Final RTX render](06_render_final/final.png) - -## Source Asset - -- Input CAD: `/Users/lingq/Downloads/2584N111_Displayport Cord_socket_screws_removed.step` -- Input STEP SHA-256: `70069cb4791fca4e607492ab9aee63b83ccfefa50591879f339a81516360e967` -- Processing host: `horde@horde-dgxc.nvidia.com` -- Tooling: installed NVIDIA Skill Hub CAD-to-SimReady/OpenUSD validation tooling on the Horde machine - -## USD Structure - -| Property | Value | -| --- | --- | -| Default prim | `/tn__2584N111_Displayport_Cord_socket_screws_removed_` | -| Stage units | `metersPerUnit = 1.0` | -| Up axis | `Z` | -| Mesh count | `6` | -| Rigid body count | `6` | -| Collider count | `6` | -| Authored references | `0` | -| Prototype count | `0` | -| Final USD size | `413,443 bytes` | - -The delivered USD was flattened to a single self-contained layer and the internal CAD prototype/reference structure was removed before final authoring. - -## Geometry - -| Metric | Value | -| --- | --- | -| Bounds min, meters | `(0.0, -0.007400000256299972, -0.018999323284626005)` | -| Bounds max, meters | `(0.03750000028610229, 0.007400000256299972, 0.01900067676305771)` | -| Bounds size, meters | `(0.03750000028610229, 0.014800000512599944, 0.03800000004768371)` | -| Point count | `13,828` | -| Triangle count | `12,653` | - -## Materials - -| CAD body | Visual material | Role | -| --- | --- | --- | -| `Body8` | Warm off-white plastic | Molded housing and rear strain-relief geometry | -| `Body4`, `Body5`, `Body6` | Brushed dark metal | DisplayPort socket shell/contact structures | -| `Body12`, `Body13` | Dark screw-bore metal | Screw-bore insert surfaces after screw removal | - -All visual materials are authored as `UsdPreviewSurface` materials. - -## Physical Properties - -| Property | Value | -| --- | --- | -| Total estimated mass | `0.013 kg` | -| Collision approximation | `convexHull` per mesh | -| Static friction | `0.85` | -| Dynamic friction | `0.65` | -| Restitution | `0.08` | -| Physics density | `1200 kg/m^3` | - -Mass was estimated from the small connector scale and distributed across the functional CAD bodies: - -| Body | Mass, kg | -| --- | ---: | -| `Body4` | `0.0015` | -| `Body5` | `0.0020` | -| `Body6` | `0.0010` | -| `Body8` | `0.0075` | -| `Body12` | `0.0005` | -| `Body13` | `0.0005` | - -## Grasp Annotation - -| Property | Value | -| --- | --- | -| Path | `/tn__2584N111_Displayport_Cord_socket_screws_removed_/GraspAnnotations/grasp_identifier_01` | -| Type | `parallel_gripper_grasp_axis` | -| Target | Main plastic housing | -| Point A, meters | `(0.01875000074505806, -0.006599999964237213, 0.0)` | -| Point B, meters | `(0.01875000074505806, 0.006599999964237213, 0.0)` | -| Width | `0.0012 m` | - -## Validation Summary - -| Gate | Status | Errors | Failures | Warnings | -| --- | --- | ---: | ---: | ---: | -| Minimum USD validation | `PASS` | `0` | `0` | `1` | -| Omni asset validation | `PASS` | `0` | `0` | `7` | -| Omni geometry validation | `PASS` | `0` | `0` | `7` | -| Omni physics validation | `PASS` | `0` | `0` | `0` | -| SimReady profile validation | `PASS` | `0` | `0` | `0` | -| OVRTX render | `PASS` | `0` | `0` | `1` | - -SimReady validation target: - -- Profile: `Prop-Robotics-Neutral` -- Version: `1.0.0` -- Result: `PASS` -- SimReady issue counts: `ERROR=0`, `FAILURE=0`, `WARNING=0` - -Passed SimReady features: - -- `FET000_CORE` -- `FET001_BASE_NEUTRAL` -- `FET003_BASE_NEUTRAL` -- `FET004_BASE_NEUTRAL` -- `FET005_BASE_NEUTRAL` -- `FET006_BASE_MDL` - -## Residual Non-Blocking Warnings - -The final asset passed validation. Remaining warnings are non-blocking: - -- `IndexedPrimvarChecker`: repeated `primvars:st` values can be indexed on the six CAD meshes. -- `ManifoldChecker`: `Body13/Mesh` has 2 non-manifold vertices from the source CAD tessellation. -- Render report warning: Pillow was unavailable in the validation virtualenv, so pixel inspection was skipped by that wrapper. The render file was produced successfully and manually inspected. -- Minimum USD warning: the validator reported an anonymous session layer while opening the USD; the delivered USD itself has no authored references and no prototypes. - -## Conclusion - -`2584n111_displayport_cord_socket_screws_removed_simready.usd` is SimReady for the validated `Prop-Robotics-Neutral` profile. It has explicit materials, physical material parameters, rigid bodies, convex-hull colliders, mass properties, stage units, up-axis metadata, and a grasp-axis annotation. Physics and SimReady profile validation are clean passes. diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md deleted file mode 100644 index d0b7e7b67eba..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/RESULT.md +++ /dev/null @@ -1,35 +0,0 @@ -# 2584N111 DisplayPort Cord Plug SimReady Result - -## Final artifact - -- USD: `2584n111_displayport_cord_plug_latch_removed_simready.usd` -- Preview: `thumbnail.png` -- Validation reports: - - `minimum-usd.json` - - `asset-validator.json` - - `simready-profile.json` - - `ovrtx-render-service.json` - -## Provenance - -- Source STEP SHA-256: `6b56128cdf97bbb220f05bd4d159525873ac663042d90512f490208491421c17` -- Skill Hub clone: `NVIDIA/skills` -- Skill Hub commit: `8b6938719346266262d21a16c5ab20c1ea8156f9` -- Remote run root: `/home/horde/nvidia-skills-cad2simready-runs/20260529-2584n111-plug-latch-removed` -- SimReady profile: `Prop-Robotics-Neutral@1.0.0` - -## Validation - -- Minimum USD: PASS -- Omni Asset Validator: PASS, with warnings only -- Geometry validation: PASS, with warnings only -- Physics validation: PASS -- SimReady profile validation: PASS -- OVRTX render service: PASS - -## Notes - -- Final USD has `metersPerUnit = 1.0`, `upAxis = Z`, 20 mesh prims, 24 material bindings, 4 colliders, and 4 rigid bodies. -- The Material Agent completed, but only 1 of 4 material VLM predictions succeeded; visual material accuracy should be treated as limited. -- The Physics Agent completed, but its semantic identification called the part an automotive diagnostic adapter. The final USD still passes the selected SimReady validation profile. -- Remaining validator messages are warnings: repeated indexed primvars and 11 non-manifold vertices on one mesh. diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd deleted file mode 100644 index a5204cc1cc0b..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:45e36e55c203be18749f151bd7d8cb7abf8f767875e13a2704a7651a22886eef -size 406570 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd deleted file mode 100644 index 94bdabf66865..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_plug_fixed_watertight.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:564645b3c8f0b781e13127d7716a53cdd1d2457abdbb8866389325ad6a605ac9 -size 1498944 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd deleted file mode 100644 index dee33d2e7212..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3216d69009e933fd86db055a80b78d473c3bc3c04492a887466b598f048fa172 -size 1407276 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd deleted file mode 100644 index c09893a0dfb6..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_sdf.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:31e887054230443174cc9371d6f60a7a04fc7dd6e69f2c454b755a7d359cb844 -size 1459326 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd deleted file mode 100644 index 405cbb4118ff..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/display_port_socket_fixed_watertight.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:832d434c78f1a3ae2cd4c667d27a9f62fd7fde1bcba5e7814688fa9329db0d9c -size 608738 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml deleted file mode 100644 index 86231333d91a..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_material.yaml +++ /dev/null @@ -1,152 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -project: - name: "displayport_cord_material_assignment" - session_id: "displayport_cord_material" - working_dir: ".displayport_cord_material" - description: "Assign visual materials to the converted McMaster-Carr 2584N111 DisplayPort cord USD." - -input: - usd_path: "/home/horde/cad2simready_runs/displayport_cord_20260513/output/conversion/2584N111_Displayport_Cord.usd" - reference_images: [] - -output: - layer_only: false - flatten_output: false - -materials: - path: "../content-agents-main/apps/material_agent/data/materials/material_libs_default/materials.yaml" - -steps: - validate_input: - enabled: true - on_failure: warn - - optimize_usd: - enabled: false - - build_dataset_usd: - renderer: - backend: ovrtx - image_width: 512 - image_height: 512 - cull_style: back - should_highlight_prim: false - should_assign_random_colors: true - highlight_color: [0.7, 0.0, 0.0] - other_color_range: [0.35, 0.35] - rendering_modes: - prim_only: - margin: 1.2 - cameras: ["+x+y+z", "-x-y-z"] - camera_focus_mode: prim - composition: - margin: 6.0 - cameras: ["+x", "+y", "+z"] - camera_focus_mode: stage - skip_occluded_images: false - prim_filters: - types: - - "UsdGeom.Mesh" - - "UsdGeom.Cube" - - "UsdGeom.Cylinder" - - "UsdGeom.Capsule" - - "UsdGeom.Sphere" - - "UsdGeom.Cone" - skip_instances: false - extract_material_bindings: true - extract_hierarchy: true - extract_metadata: true - build_usd_model: true - export_usd_model: true - skip_existing: true - batch_size: 16 - - build_dataset_pdf_vectorstore: - enabled: false - - build_dataset_prepare_dataset: - enabled: true - include_ground_truth: false - include_prim_path_context: true - pdf_conversion: - dpi: 150 - format: "png" - first_page: 1 - last_page: 2 - prompts: - vlm_system: | - You are an expert at identifying object parts and assigning plausible visual materials for simulation USD assets. - The asset is a McMaster-Carr 2584N111 DisplayPort cord/cable converted from CAD. Prefer black polymer or rubber-like cable jacket and molded connector housings, with metal shells or pins where geometry indicates connector hardware. - Use the available material list and choose the closest matching material. Mark uncertain assumptions through conservative choices. - - Available materials: - {materials_list} - - Respond as structured JSON: - {{ - "material": "material name" - }} - vlm_user: | - Identify the highlighted part of the DisplayPort cord and select the most appropriate material from the predefined list. - Focus on geometry, position, and part function. Do not overfit to random render colors. - - Additional context: - {context} - vlm_image_prompts: - prim_only: "This is a rendered part of interest only without highlighting." - composition: "This is an orthographic view of the object with the part of interest highlighted with an orange outline." - - cluster_prims: - enabled: false - - predict: - prediction_batch_size: 1 - vlm: - backend: nim - model: qwen/qwen3.5-397b-a17b - temperature: 0.3 - max_completion_tokens: 4096 - max_workers: 8 - llm: - backend: nim - model: qwen/qwen3.5-397b-a17b - temperature: 0.1 - max_tokens: 512 - report: - image_max_size: 256 - image_format: jpeg - image_quality: 75 - - validate_predictions: - enabled: true - - harmonize_predictions: - enabled: true - - apply: - layer_only: false - flatten_output: false - - restore_usd: - enabled: false - - validate_output: - enabled: true - on_failure: warn - - render: - enabled: true - backend: ovrtx - image_width: 1024 - image_height: 1024 - camera_corners: ["+x+y+z", "-x-y-z"] - camera_margin: 1.0 - background_color: [1.0, 1.0, 1.0] - -advanced: - keep_temp_files: true - log_level: INFO diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml deleted file mode 100644 index 29c385c69f63..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/display_cable_insertion_assets/displayport_cord_physics.yaml +++ /dev/null @@ -1,118 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -project: - name: "displayport_cord_physics_assignment" - session_id: "displayport_cord_physics" - working_dir: ".displayport_cord_physics" - description: "Assign physics properties to the material-assigned McMaster-Carr 2584N111 DisplayPort cord USD." - -input: - usd_path: "/home/horde/cad2simready_runs/displayport_cord_20260513/content_agent_configs/.displayport_cord_material/output/output.usd" - reference_images: [] - -steps: - optimize_usd: - enabled: false - - identify_asset: - enabled: true - renderer: - backend: ovrtx - image_width: 512 - image_height: 512 - cameras: ["+x+y+z", "-x+y+z", "-x-y+z", "+x-y+z"] - - build_dataset_usd: - enabled: true - renderer: - backend: ovrtx - image_width: 512 - image_height: 512 - log_level: warn - camera_view_type: corner - rendering_modes: - prim_only: - margin: 1.2 - cameras: ["+x+y+z", "-x-y-z"] - camera_focus_mode: prim - use_original_materials: true - should_highlight_prim: false - should_assign_random_colors: true - prim_filters: - types: ["UsdGeom.Mesh"] - skip_instances: false - skip_prototypes: false - extract_hierarchy: true - extract_metadata: true - skip_existing: true - batch_size: 64 - num_workers: 1 - - build_dataset_prepare_dataset: - enabled: true - include_prim_path_context: true - include_geometric_context: true - prompts: - system: | - You are an expert 3D asset analyst assigning physical simulation properties to USD components. - The overall asset is a McMaster-Carr 2584N111 DisplayPort cord/cable: flexible black cable jacket, molded connector housings, and metal connector shells/pins. - Use geometry, component function, and dimensions to estimate conservative physical properties suitable for simulation. - - Physical properties to estimate: - - density in kg/m^3 - - estimated_mass_kg using density, component bounding-box volume, and realistic fill factor - - static_friction from 0.0 to 1.0 - - dynamic_friction from 0.0 to 1.0 - - restitution from 0.0 to 1.0 - - Flexible cable sections should generally be rubber/plastic-like with low mass, high friction, and low to moderate restitution. - Metal connector shells or contacts should generally be metal with higher density, medium friction, and low restitution. - - Respond with JSON nested under the exact key "classification": - {{ - "classification": {{ - "asset_type": "cable assembly", - "component_type": "electrical", - "component_name": "descriptive component name", - "material": "material type", - "physical_properties": {{ - "density": 0, - "estimated_mass_kg": 0, - "static_friction": 0, - "dynamic_friction": 0, - "restitution": 0 - }}, - "confidence": "high/medium/low", - "reasoning": "brief explanation" - }} - }} - user: | - Classify this component of the DisplayPort cord and estimate physics properties for simulation. - vlm_image_prompts: - composition: "This is an orthographic view of the complete 3D model with the component highlighted." - prim_only_original: "This is a rendered view of the isolated component with its original materials preserved." - - predict: - enabled: true - vlm: - backend: nim - model: qwen/qwen3.5-397b-a17b - temperature: 0.3 - max_tokens: 2048 - max_workers: 2 - output_key: "classification" - report: - image_max_size: 256 - image_format: jpeg - image_quality: 75 - - apply_physics: - enabled: true - collision_approx: convexHull - -advanced: - keep_temp_files: true - log_level: INFO diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py index b968cefa1a9b..0abe8937d2ed 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -5,24 +5,9 @@ """Base RL environment for inserting a DisplayPort plug into a socket. -This mirrors :mod:`cable_insertion_env_cfg` (the GB300 cable-insertion base) -but targets the right-angle DisplayPort plug/socket assets in -``display_cable_insertion_assets``. - -Assets (``display_port_plug_fixed.usd``, ``display_port_socket_fixed.usd``) were -produced from STEP source via the ``omniverse-cad-to-simready`` pipeline and -post-processed by ``physical-ai-skill-hub-dev/scripts/finalize_dp_assets.py``. -All issues from ``output_dir/displayport_asset_fixes_required.md`` have been -resolved offline: geometry is in metres, single root :class:`RigidBodyAPI`, -no embedded ``PhysicsScene``, ``convexDecomposition`` on the plug, ``triangleMesh`` -on the socket (all bodies enabled). Assets load with plain -:class:`~isaaclab.sim.UsdFileCfg` at ``scale=(1,1,1)``; no custom spawner needed. - -Geometry constants below were derived from the **live-sim-verified** seated pose -of the drop-test (plug pos ``(0,0,0.2096)`` rot ``(0.70711,0.70711,0,0)``; -socket pos ``(0,0,0.15)`` rot ``(0.5,0.5,0.5,-0.5)`` in Isaac Lab quat order), -re-parameterized through the same quaternion helpers as the GB300 base so the -keypoint goal exactly reproduces the verified mate. +Targets the right-angle DisplayPort plug/socket assets in +``display_cable_insertion_assets``. Assets load with plain +:class:`~isaaclab.sim.UsdFileCfg` at ``scale=(1,1,1)``. """ import os @@ -46,19 +31,36 @@ from isaaclab.utils.noise import UniformNoiseCfg import isaaclab_tasks.contrib.deploy.mdp as mdp -from isaaclab_tasks.contrib.deploy.cable_insertion.cable_insertion_env_cfg import ( - _quat_mul, - _quat_rotate_vec, -) from isaaclab_tasks.contrib.deploy.mdp.noise_models import ResetSampledConstantNoiseModelCfg CABLE_INSERTION_DIR = os.path.dirname(os.path.abspath(__file__)) DISPLAY_ASSETS_DIR = os.path.join(CABLE_INSERTION_DIR, "display_cable_insertion_assets") -# _DP_SPAWNER = ( # old: runtime USD patching for original multi-body simready assets -# "isaaclab_tasks.contrib.deploy.cable_insertion" -# ".config.displayport_basic.spawners:spawn_usd_with_physics" -# ) + +def _quat_rotate_vec(q_xyzw, v): + """Apply quaternion rotation to a 3D vector.""" + qx, qy, qz, qw = q_xyzw + vx, vy, vz = v + tx = 2.0 * (qy * vz - qz * vy) + ty = 2.0 * (qz * vx - qx * vz) + tz = 2.0 * (qx * vy - qy * vx) + return ( + vx + qw * tx + qy * tz - qz * ty, + vy + qw * ty + qz * tx - qx * tz, + vz + qw * tz + qx * ty - qy * tx, + ) + + +def _quat_mul(q1_xyzw, q2_xyzw): + """Multiply two quaternions in (x, y, z, w) format.""" + x1, y1, z1, w1 = q1_xyzw + x2, y2, z2, w2 = q2_xyzw + return ( + w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2, + w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, + w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2, + w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, + ) # --------------------------------------------------------------------------- # USD body-frame offsets (DisplayPort asset geometry) @@ -115,8 +117,6 @@ def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): _INSERTION_POINT, _DEFAULT_SOCKET_ROT, z_clearance=0.033, ) -# _DP_SCALE = (0.0254, 0.0254, 0.0254) # old: inch→metre workaround for original simready assets; geometry is now natively in metres - ## # Asset Configurations ## @@ -128,11 +128,7 @@ class DisplayPortPlug(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortPlug" spawn = sim_utils.UsdFileCfg( - # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_plug_latch_removed_simready.usd"), # old: inches, multi-body, instanced - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_watertight.usd"), # old: convexDecomposition, hulls too wide → blocks slot entrance usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_plug_fixed_sdf.usd"), - # scale=_DP_SCALE, # old: inch→metre workaround; finalize_dp_assets.py baked metres into vertices scale=(1.0, 1.0, 1.0), activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( @@ -166,11 +162,7 @@ class DisplayPortSocket(RigidObjectCfg): prim_path = "{ENV_REGEX_NS}/DisplayPortSocket" spawn = sim_utils.UsdFileCfg( - # func=_DP_SPAWNER, # old: runtime patcher for original multi-body simready assets - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "2584n111_displayport_cord_socket_screws_removed_simready.usd"), # old: inches, multi-body - # usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_watertight.usd"), # old: triangleMesh, may have entrance artifacts usd_path=os.path.join(DISPLAY_ASSETS_DIR, "display_port_socket_fixed_sdf_noprotrusions.usd"), - # scale=_DP_SCALE, # old: inch→metre workaround scale=(1.0, 1.0, 1.0), activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py index ce6f3bac1388..3765ad411d7e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/__init__.py @@ -29,7 +29,6 @@ disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F140GearAssemblyEnvCfg_PLAY", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg", }, ) @@ -50,7 +49,6 @@ disable_env_checker=True, kwargs={ "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F85GearAssemblyEnvCfg_PLAY", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg", }, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi index 71ebe763b6e7..c564d4b96af2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi @@ -32,24 +32,8 @@ __all__ = [ "reset_when_gear_orientation_exceeds_threshold", "reset_when_plug_dropped", "reset_when_plug_orientation_exceeded", - "DelayedRelativeJointPositionAction", - "DelayedRelativeJointPositionActionCfg", - "ShapedDelayedRelativeJointPositionAction", - "ShapedDelayedRelativeJointPositionActionCfg", - "FlexivDynamicsAwareRelativeJointPositionAction", - "FlexivDynamicsAwareRelativeJointPositionActionCfg", ] -from .delayed_joint_actions import ( - DelayedRelativeJointPositionAction, - ShapedDelayedRelativeJointPositionAction, - FlexivDynamicsAwareRelativeJointPositionAction, -) -from .delayed_joint_actions_cfg import ( - DelayedRelativeJointPositionActionCfg, - ShapedDelayedRelativeJointPositionActionCfg, - FlexivDynamicsAwareRelativeJointPositionActionCfg, -) from .events import ( randomize_gear_type, randomize_gears_and_base_pose, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py deleted file mode 100644 index 3821f31b7f8a..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions.py +++ /dev/null @@ -1,296 +0,0 @@ -# Copyright (c) 2025-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from __future__ import annotations - -from collections.abc import Sequence -import re -from typing import TYPE_CHECKING - -import torch -import warp as wp - -from isaaclab.envs.mdp.actions.joint_actions import RelativeJointPositionAction - -from isaaclab_tasks.contrib.deploy.mdp.delayed_joint_actions_cfg import ( - DelayedRelativeJointPositionActionCfg, - FlexivDynamicsAwareRelativeJointPositionActionCfg, - ShapedDelayedRelativeJointPositionActionCfg, -) - -if TYPE_CHECKING: - from isaaclab.envs import ManagerBasedEnv - - -class DelayedRelativeJointPositionAction(RelativeJointPositionAction): - """Relative joint-position action that applies a delayed absolute joint target.""" - - cfg: DelayedRelativeJointPositionActionCfg - - def __init__(self, cfg: DelayedRelativeJointPositionActionCfg, env: ManagerBasedEnv): - super().__init__(cfg, env) - - if self.cfg.latency_s < 0.0: - raise ValueError("latency_s must be non-negative") - if self.cfg.latency_steps is not None and self.cfg.latency_steps < 0: - raise ValueError("latency_steps must be non-negative") - - # PhysX calls apply_actions() once per physics step. Newton graph mode may - # fold decimation internally, in which case apply_actions() runs once per env step. - apply_dt = env.step_dt if getattr(env, "_physics_handles_decimation", False) else env.physics_dt - if self.cfg.latency_steps is None: - self._delay_steps = 0 if self.cfg.latency_s == 0.0 else max(1, round(self.cfg.latency_s / apply_dt)) - else: - self._delay_steps = int(self.cfg.latency_steps) - self._effective_latency_s = self._delay_steps * apply_dt - - current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids].clone() - self._latest_target = current_target.clone() - self._delayed_target = current_target.clone() - self._target_buffer = None - if self._delay_steps > 0: - self._target_buffer = current_target.unsqueeze(0).repeat(self._delay_steps, 1, 1) - - def process_actions(self, actions: torch.Tensor): - super().process_actions(actions) - current_joint_pos = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] - self._latest_target = current_joint_pos + self.processed_actions - - def apply_actions(self): - if self._delay_steps > 0: - self._delayed_target = self._target_buffer[0].clone() - if self._delay_steps > 1: - self._target_buffer[:-1] = self._target_buffer[1:].clone() - self._target_buffer[-1] = self._latest_target - else: - self._delayed_target = self._latest_target - - self._asset.set_joint_position_target_index(target=self._delayed_target, joint_ids=self._joint_ids) - - def reset(self, env_ids: Sequence[int] | None = None) -> None: - super().reset(env_ids) - reset_ids = slice(None) if env_ids is None else env_ids - current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] - self._latest_target[reset_ids] = current_target[reset_ids] - self._delayed_target[reset_ids] = current_target[reset_ids] - if self._target_buffer is not None: - selected_target = current_target[reset_ids] - if selected_target.ndim == 1: - selected_target = selected_target.unsqueeze(0) - reset_target = selected_target.unsqueeze(0).repeat(self._delay_steps, 1, 1) - self._target_buffer[:, reset_ids, :] = reset_target - - -class ShapedDelayedRelativeJointPositionAction(DelayedRelativeJointPositionAction): - """Delayed relative joint-position action with command-side velocity and acceleration limits.""" - - cfg: ShapedDelayedRelativeJointPositionActionCfg - - def __init__(self, cfg: ShapedDelayedRelativeJointPositionActionCfg, env: ManagerBasedEnv): - super().__init__(cfg, env) - - if self.cfg.command_velocity_limit < 0.0: - raise ValueError("command_velocity_limit must be non-negative") - if self.cfg.command_acceleration_limit < 0.0: - raise ValueError("command_acceleration_limit must be non-negative") - - # Command shaping models the external robot command loop, so it advances - # once per env/control step. PhysX still receives the latest shaped target - # on every physics substep through apply_actions(). - control_dt = env.step_dt - if self.cfg.latency_steps is None: - self._delay_steps = 0 if self.cfg.latency_s == 0.0 else max(1, round(self.cfg.latency_s / control_dt)) - else: - self._delay_steps = int(self.cfg.latency_steps) - self._effective_latency_s = self._delay_steps * control_dt - - current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids].clone() - self._latest_target = current_target.clone() - self._delayed_target = current_target.clone() - self._target_buffer = None - if self._delay_steps > 0: - self._target_buffer = current_target.unsqueeze(0).repeat(self._delay_steps, 1, 1) - - self._shape_dt = control_dt - self._shaped_target = self._delayed_target.clone() - self._shaped_velocity = torch.zeros_like(self._shaped_target) - - def process_actions(self, actions: torch.Tensor): - RelativeJointPositionAction.process_actions(self, actions) - current_joint_pos = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] - self._latest_target = current_joint_pos + self.processed_actions - - if self._delay_steps > 0: - delayed_target = self._target_buffer[0].clone() - if self._delay_steps > 1: - self._target_buffer[:-1] = self._target_buffer[1:].clone() - self._target_buffer[-1] = self._latest_target - else: - delayed_target = self._latest_target - - self._delayed_target = delayed_target - self._shaped_target, self._shaped_velocity = self._shape_position_target( - delayed_target, - self._shaped_target, - self._shaped_velocity, - ) - - def apply_actions(self): - self._asset.set_joint_position_target_index(target=self._shaped_target, joint_ids=self._joint_ids) - - def reset(self, env_ids: Sequence[int] | None = None) -> None: - super().reset(env_ids) - reset_ids = slice(None) if env_ids is None else env_ids - current_target = wp.to_torch(self._asset.data.joint_pos)[:, self._joint_ids] - self._shaped_target[reset_ids] = current_target[reset_ids] - self._shaped_velocity[reset_ids] = 0.0 - - def _shape_position_target( - self, - desired_target: torch.Tensor, - shaped_target: torch.Tensor, - shaped_velocity: torch.Tensor, - ) -> tuple[torch.Tensor, torch.Tensor]: - if self.cfg.command_velocity_limit == 0.0 and self.cfg.command_acceleration_limit == 0.0: - return desired_target, shaped_velocity - - target_velocity = (desired_target - shaped_target) / self._shape_dt - if self.cfg.command_velocity_limit > 0.0: - target_velocity = torch.clamp( - target_velocity, - min=-self.cfg.command_velocity_limit, - max=self.cfg.command_velocity_limit, - ) - - if self.cfg.command_acceleration_limit > 0.0: - max_delta_velocity = self.cfg.command_acceleration_limit * self._shape_dt - target_velocity = shaped_velocity + torch.clamp( - target_velocity - shaped_velocity, - min=-max_delta_velocity, - max=max_delta_velocity, - ) - - next_target = shaped_target + target_velocity * self._shape_dt - crossed = ((desired_target - shaped_target) * (desired_target - next_target)) < 0.0 - if crossed.any(): - next_target = torch.where(crossed, desired_target, next_target) - target_velocity = torch.where(crossed, torch.zeros_like(target_velocity), target_velocity) - - return next_target, target_velocity - - -class FlexivDynamicsAwareRelativeJointPositionAction(DelayedRelativeJointPositionAction): - """Flexiv-style relative joint-position controller with latency and dynamics-aware damping. - - Flexiv's robot-side impedance API accepts joint stiffness and damping ratios. - This action term approximates that behavior by using the simulator's implicit - joint drives, writing the configured stiffness directly, and updating damping - at every action application as: - - .. math:: - D_i(q) = s \\cdot 2 \\zeta_i \\sqrt{K_i M_{ii}(q)} - - where ``M_ii(q)`` is the current diagonal entry of the articulated mass - matrix for joint ``i``. This is intentionally a controller/action term, not - a plotting transform, so replay and policy rollout see the same command path. - """ - - cfg: FlexivDynamicsAwareRelativeJointPositionActionCfg - - def __init__(self, cfg: FlexivDynamicsAwareRelativeJointPositionActionCfg, env: ManagerBasedEnv): - super().__init__(cfg, env) - - if self.cfg.mass_matrix_mode != "diagonal": - raise ValueError("Only mass_matrix_mode='diagonal' is currently supported.") - if self.cfg.damping_scale <= 0.0: - raise ValueError("damping_scale must be positive.") - if self.cfg.min_effective_inertia <= 0.0: - raise ValueError("min_effective_inertia must be positive.") - if self.cfg.max_damping is not None and self.cfg.max_damping <= 0.0: - raise ValueError("max_damping must be positive when provided.") - - if isinstance(self._joint_ids, slice): - self._joint_ids_tensor = torch.arange(self._asset.num_joints, device=self.device, dtype=torch.long) - else: - self._joint_ids_tensor = torch.tensor(self._joint_ids, device=self.device, dtype=torch.long) - - self._kp = self._resolve_joint_parameter(self.cfg.stiffness, "stiffness") - self._zeta = self._resolve_joint_parameter(self.cfg.damping_ratio, "damping_ratio") - self._min_effective_inertia = torch.full_like(self._kp, float(self.cfg.min_effective_inertia)) - self._have_written_stiffness = False - self._latest_damping = torch.zeros(self.num_envs, self.action_dim, device=self.device, dtype=self._kp.dtype) - - def apply_actions(self): - self._write_stiffness_if_needed() - self._update_dynamics_aware_damping() - super().apply_actions() - - def reset(self, env_ids: Sequence[int] | None = None) -> None: - super().reset(env_ids) - if self.cfg.rewrite_stiffness_on_reset: - self._have_written_stiffness = False - - def _resolve_joint_parameter(self, value: float | dict[str, float], field_name: str) -> torch.Tensor: - if isinstance(value, (float, int)): - values = [float(value)] * self.action_dim - elif isinstance(value, dict): - values = [] - for joint_name in self._joint_names: - matches = [] - if joint_name in value: - matches.append(float(value[joint_name])) - for pattern, pattern_value in value.items(): - if pattern == joint_name: - continue - if re.fullmatch(pattern, joint_name): - matches.append(float(pattern_value)) - if not matches: - raise ValueError(f"Missing {field_name} value for joint '{joint_name}'.") - values.append(matches[-1]) - else: - raise TypeError(f"{field_name} must be a float or dict[str, float].") - - return torch.tensor(values, device=self.device, dtype=torch.float32).unsqueeze(0).repeat(self.num_envs, 1) - - def _write_stiffness_if_needed(self) -> None: - if self._have_written_stiffness and not self.cfg.rewrite_stiffness_each_step: - return - - self._asset.write_joint_stiffness_to_sim_index( - stiffness=self._kp, - joint_ids=self._joint_ids_tensor, - ) - self._have_written_stiffness = True - - def _mass_matrix_tensor(self) -> torch.Tensor: - data = self._asset.data - if not hasattr(data, "mass_matrix"): - raise RuntimeError( - "FlexivDynamicsAwareRelativeJointPositionAction requires asset.data.mass_matrix. " - "Use the Newton backend or another backend that exposes articulated mass matrices." - ) - - mass_matrix = data.mass_matrix - if isinstance(mass_matrix, wp.array): - return wp.to_torch(mass_matrix) - if hasattr(mass_matrix, "torch"): - return mass_matrix.torch - if isinstance(mass_matrix, torch.Tensor): - return mass_matrix - return torch.as_tensor(mass_matrix, device=self.device) - - def _update_dynamics_aware_damping(self) -> None: - mass_matrix = self._mass_matrix_tensor() - effective_inertia = mass_matrix[:, self._joint_ids_tensor, self._joint_ids_tensor] - effective_inertia = torch.maximum(effective_inertia, self._min_effective_inertia) - damping = self.cfg.damping_scale * 2.0 * self._zeta * torch.sqrt(self._kp * effective_inertia) - if self.cfg.max_damping is not None: - damping = torch.clamp(damping, max=float(self.cfg.max_damping)) - - self._latest_damping = damping - self._asset.write_joint_damping_to_sim_index( - damping=damping, - joint_ids=self._joint_ids_tensor, - ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py deleted file mode 100644 index 841471a4ff82..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/delayed_joint_actions_cfg.py +++ /dev/null @@ -1,76 +0,0 @@ -# Copyright (c) 2025-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from __future__ import annotations - -from isaaclab.envs.mdp.actions.actions_cfg import RelativeJointPositionActionCfg -from isaaclab.utils.configclass import configclass - -_ACTIONS_MODULE = "isaaclab_tasks.contrib.deploy.mdp.delayed_joint_actions" - - -@configclass -class DelayedRelativeJointPositionActionCfg(RelativeJointPositionActionCfg): - """Configuration for delayed relative joint-position actions.""" - - class_type: type | str = f"{_ACTIONS_MODULE}:DelayedRelativeJointPositionAction" - - latency_s: float = 0.02 - """Command latency in seconds. Defaults to one 50 Hz collection sample, 20 ms.""" - - latency_steps: int | None = None - """Optional explicit delay in action-application steps. Overrides latency_s when set.""" - - -@configclass -class ShapedDelayedRelativeJointPositionActionCfg(DelayedRelativeJointPositionActionCfg): - """Configuration for delayed relative joint-position actions with command shaping.""" - - class_type: type | str = f"{_ACTIONS_MODULE}:ShapedDelayedRelativeJointPositionAction" - - command_velocity_limit: float = 0.2 - """Maximum command-target slew velocity in rad/s. Set to zero to disable.""" - - command_acceleration_limit: float = 0.5 - """Maximum command-target slew acceleration in rad/s^2. Set to zero to disable.""" - - -@configclass -class FlexivDynamicsAwareRelativeJointPositionActionCfg(DelayedRelativeJointPositionActionCfg): - """Configuration for Flexiv-style dynamics-aware relative joint-position control.""" - - class_type: type | str = f"{_ACTIONS_MODULE}:FlexivDynamicsAwareRelativeJointPositionAction" - - stiffness: float | dict[str, float] = { - "joint1": 6000.0, - "joint2": 6000.0, - "joint3": 4200.0, - "joint4": 4200.0, - "joint5": 1500.0, - "joint6": 1500.0, - "joint7": 1500.0, - } - """Joint stiffness in Nm/rad, matching Flexiv's SetJointImpedance stiffness argument.""" - - damping_ratio: float | dict[str, float] = 0.7 - """Joint damping ratio, matching Flexiv's SetJointImpedance damping-ratio argument.""" - - damping_scale: float = 1.0 - """Multiplier applied after converting stiffness and damping ratio to joint damping.""" - - min_effective_inertia: float = 1.0e-6 - """Lower bound for mass-matrix diagonal entries used in the damping calculation.""" - - max_damping: float | None = None - """Optional upper clamp for the computed damping in Nms/rad.""" - - mass_matrix_mode: str = "diagonal" - """Mass-matrix reduction mode. Only ``diagonal`` is currently supported.""" - - rewrite_stiffness_each_step: bool = False - """Whether to write stiffness on every action application instead of once.""" - - rewrite_stiffness_on_reset: bool = True - """Whether to rewrite stiffness after reset in case reset events changed drive parameters.""" From 276508389dbc69449045c26942bac3bcb4bf27df Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Tue, 7 Jul 2026 14:14:59 -0700 Subject: [PATCH 59/65] Formatting fixes. --- .../displayport_rizon_4s/joint_pos_env_cfg.py | 4 +++- .../ros_inference_env_cfg.py | 8 +++---- .../task_space_env_cfg.py | 8 +++++-- .../displayport_insertion_env_cfg.py | 5 +++- .../deploy/cable_insertion/insertion_env.py | 1 - .../contrib/deploy/mdp/events.py | 24 +++++++++---------- .../contrib/deploy/mdp/observations.py | 1 + .../contrib/deploy/mdp/rewards.py | 8 +++---- .../contrib/deploy/mdp/terminations.py | 1 + 9 files changed, 33 insertions(+), 27 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index a2558de013f6..847fd2973c0d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -48,7 +48,9 @@ _SOCKET_ROOT = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) _PLUG_ROOT, _PLUG_ROT = compute_plug_pose( - _GEOMETRY_POS, _SOCKET_ROT, z_clearance=_PLUG_CLEARANCE_Z, + _GEOMETRY_POS, + _SOCKET_ROT, + z_clearance=_PLUG_CLEARANCE_Z, ) # DisplayPort plug insertion length (blade engagement along the insertion axis) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index 5ac2e94b9cf2..e64cdd6453c7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -35,7 +35,9 @@ _HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) _HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( - _HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT, z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, + _HUBBLE_GEOMETRY_POS, + _HUBBLE_SOCKET_ROT, + z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, ) @@ -133,9 +135,7 @@ def __post_init__(self): @configclass -class Rizon4sGravDisplayportInsertionNoJointVelROSInferenceEnvCfg( - Rizon4sGravDisplayportInsertionROSInferenceEnvCfg -): +class Rizon4sGravDisplayportInsertionNoJointVelROSInferenceEnvCfg(Rizon4sGravDisplayportInsertionROSInferenceEnvCfg): """ROS inference config for the velocity-free joint-space policy. Identical deployment setup to diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py index b260550b723a..8181266e4406 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py @@ -53,8 +53,12 @@ _DAMPING_RATIO_TRANS = 35.0 / (2.0 * math.sqrt(300.0)) # ~1.010 _DAMPING_RATIO_ROT = 1.1 / (2.0 * math.sqrt(30.0)) # ~0.100 _DAMPING_RATIO = ( - _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, _DAMPING_RATIO_TRANS, - _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, _DAMPING_RATIO_ROT, + _DAMPING_RATIO_TRANS, + _DAMPING_RATIO_TRANS, + _DAMPING_RATIO_TRANS, + _DAMPING_RATIO_ROT, + _DAMPING_RATIO_ROT, + _DAMPING_RATIO_ROT, ) # Production action_scale = [0.01]*6 for both position and rotation diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py index 0abe8937d2ed..b765466324a5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -62,6 +62,7 @@ def _quat_mul(q1_xyzw, q2_xyzw): w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, ) + # --------------------------------------------------------------------------- # USD body-frame offsets (DisplayPort asset geometry) # --------------------------------------------------------------------------- @@ -114,7 +115,9 @@ def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): _SOCKET_ROOT_POS = compute_socket_root(_INSERTION_POINT, _DEFAULT_SOCKET_ROT) _PLUG_ROOT_POS, _DEFAULT_PLUG_ROT = compute_plug_pose( - _INSERTION_POINT, _DEFAULT_SOCKET_ROT, z_clearance=0.033, + _INSERTION_POINT, + _DEFAULT_SOCKET_ROT, + z_clearance=0.033, ) ## diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py index 9cdadbb2aa23..b96a96134d0f 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py @@ -25,7 +25,6 @@ from __future__ import annotations import torch - import warp as wp from isaaclab.envs import ManagerBasedRLEnv diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index 2c4243707936..1d77ee2ab6a5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -11,6 +11,7 @@ from typing import TYPE_CHECKING import torch +import warp as wp import isaaclab.utils.math as math_utils from isaaclab.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg @@ -763,9 +764,7 @@ def __call__( # Write gripper STATE at ``hand_hold_width`` (fingers just touching the # plug, no mesh overlap) and set the TARGET to ``hand_close_width`` # (fully closed) so the actuator drive squeezes around the plug. - self.gripper_joint_setter_func( - joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_hold_width - ) + self.gripper_joint_setter_func(joint_pos, list(range(num_reset_envs)), self.finger_joints, self.hand_hold_width) self.robot_asset.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids) self.robot_asset.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids) @@ -824,9 +823,7 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): self.normal_pose_range: dict = cfg.params.get("normal_pose_range", {}) - self.identity_quat = torch.tensor( - [0.0, 0.0, 0.0, 1.0], device=env.device, dtype=torch.float32 - ) + self.identity_quat = torch.tensor([0.0, 0.0, 0.0, 1.0], device=env.device, dtype=torch.float32) def _current_at_goal_prob(self, env: ManagerBasedEnv) -> float: """Return the at-goal probability for the current training progress. @@ -835,11 +832,7 @@ def _current_at_goal_prob(self, env: ManagerBasedEnv) -> float: between ``anneal_start_iter`` and ``anneal_end_iter``. Returns the constant ``at_goal_prob`` when annealing is not fully configured. """ - if ( - self.at_goal_prob_final is None - or self.anneal_end_iter is None - or not self.num_steps_per_env - ): + if self.at_goal_prob_final is None or self.anneal_end_iter is None or not self.num_steps_per_env: return self.at_goal_prob current_iter = env.common_step_counter / float(self.num_steps_per_env) @@ -875,7 +868,10 @@ def __call__( socket_offset_batch = self.socket_insertion_offset.unsqueeze(0).expand(num_envs, -1) id_quat_batch = self.identity_quat.unsqueeze(0).expand(num_envs, -1) kp_origin_w, _ = math_utils.combine_frame_transforms( - socket_pos, socket_quat, socket_offset_batch, id_quat_batch, + socket_pos, + socket_quat, + socket_offset_batch, + id_quat_batch, ) # Insertion axis in world frame (rotated by socket orientation) @@ -917,7 +913,9 @@ def __call__( num_at_goal = int(at_goal_local.numel()) if num_at_goal > 0: depth_rand = torch.rand(num_at_goal, 1, device=env.device) - goal_kp_pos = kp_origin_w[at_goal_local] + depth_rand * insertion_axis_w[at_goal_local] * self.insertion_length + goal_kp_pos = ( + kp_origin_w[at_goal_local] + depth_rand * insertion_axis_w[at_goal_local] * self.insertion_length + ) # Convert keypoint position to plug root position plug_pos[at_goal_local] = goal_kp_pos - plug_kp_in_world[at_goal_local] diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py index 5a5c02fd6f97..703f2af057fc 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py @@ -10,6 +10,7 @@ from typing import TYPE_CHECKING import torch +import warp as wp from isaaclab.managers import ManagerTermBase, ObservationTermCfg, SceneEntityCfg from isaaclab.utils.math import combine_frame_transforms, matrix_from_quat diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py index 5f7b1264bc7a..1c1d763a894a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/rewards.py @@ -609,15 +609,13 @@ def __init__(self, cfg: RewardTermCfg, env: ManagerBasedRLEnv): torch.tensor(rot_offset_2, device=env.device, dtype=torch.float32).unsqueeze(0).repeat(env.num_envs, 1) ) - self.identity_quat = ( - torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=env.device, dtype=torch.float32).repeat(env.num_envs, 1) + self.identity_quat = torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=env.device, dtype=torch.float32).repeat( + env.num_envs, 1 ) self.keypoint_computer = _compute_keypoint_distance(cfg, env) - def _get_kp_frames( - self, env: ManagerBasedRLEnv - ) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + def _get_kp_frames(self, env: ManagerBasedRLEnv) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: """Compute keypoint frames for both assets with offsets applied.""" import warp as wp diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py index 4a6a62901735..983541859f24 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/terminations.py @@ -11,6 +11,7 @@ from typing import TYPE_CHECKING import torch +import warp as wp import isaaclab.utils.math as math_utils from isaaclab.managers import ManagerTermBase, SceneEntityCfg, TerminationTermCfg From afab7dd460ab83ded88433d2f5f6b1317d87ba56 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 16 Jul 2026 11:38:27 -0700 Subject: [PATCH 60/65] Cleaned up comments, changes as per latest working policy setup. --- .../deploy/cable_insertion/__init__.py | 2 +- .../config/displayport_rizon_4s/__init__.py | 39 +- .../displayport_rizon_4s/joint_pos_env_cfg.py | 183 +++---- .../ros_inference_env_cfg.py | 115 ++-- .../task_space_env_cfg.py | 494 ------------------ .../task_space_ros_inference_env_cfg.py | 137 ----- .../displayport_insertion_env_cfg.py | 37 +- .../deploy/cable_insertion/insertion_env.py | 69 +-- .../contrib/deploy/mdp/events.py | 90 ++-- 9 files changed, 198 insertions(+), 968 deletions(-) delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py delete mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py index eb06ed96f17d..b1d487e2b679 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py @@ -3,4 +3,4 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Insert GB300 plug into socket.""" +"""DisplayPort cable insertion environments.""" diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py index 220aafd62959..38f6be2c63c2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py @@ -7,7 +7,6 @@ from . import agents -# Env class that logs task-success metrics during training (see insertion_env.py). _INSERTION_ENV_ENTRY = ( "isaaclab_tasks.contrib.deploy.cable_insertion.insertion_env:DisplayportInsertionEnv" ) @@ -16,6 +15,7 @@ # Register Gym environments. ## +# Flexiv Rizon 4s - Joint space gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-v0", entry_point=_INSERTION_ENV_ENTRY, @@ -26,6 +26,7 @@ }, ) +# Flexiv Rizon 4s - Joint space Play gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-Play-v0", entry_point=_INSERTION_ENV_ENTRY, @@ -36,6 +37,7 @@ }, ) +# Flexiv Rizon 4s - Joint space without joint velocity gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0", entry_point=_INSERTION_ENV_ENTRY, @@ -46,6 +48,7 @@ }, ) +# Flexiv Rizon 4s - Joint space without joint velocity Play gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0", entry_point=_INSERTION_ENV_ENTRY, @@ -56,6 +59,7 @@ }, ) +# Flexiv Rizon 4s - Joint space ROS Inference without joint velocity gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0", entry_point=_INSERTION_ENV_ENTRY, @@ -68,26 +72,7 @@ }, ) -gym.register( - id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-v0", - entry_point=_INSERTION_ENV_ENTRY, - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceDisplayportInsertionEnvCfg", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", - }, -) - -gym.register( - id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-Play-v0", - entry_point=_INSERTION_ENV_ENTRY, - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": f"{__name__}.task_space_env_cfg:Rizon4sTaskSpaceDisplayportInsertionEnvCfg_PLAY", - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", - }, -) - +# Flexiv Rizon 4s - Joint space ROS Inference gym.register( id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0", entry_point=_INSERTION_ENV_ENTRY, @@ -97,15 +82,3 @@ "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", }, ) - -gym.register( - id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-TaskSpace-ROS-Inference-v0", - entry_point=_INSERTION_ENV_ENTRY, - disable_env_checker=True, - kwargs={ - "env_cfg_entry_point": ( - f"{__name__}.task_space_ros_inference_env_cfg:Rizon4sTaskSpaceDisplayportInsertionROSInferenceEnvCfg" - ), - "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg", - }, -) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 847fd2973c0d..3d44b47e8ba8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -3,11 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Joint-space DisplayPort insertion environment for Flexiv Rizon 4S + Grav gripper. - -Relative joint-position control of the 7-DoF arm; the plug is grasped at reset -and the goal is the verified seated mate. -""" +"""Joint-space DisplayPort insertion environment for Flexiv Rizon 4S + Grav gripper.""" import math @@ -32,19 +28,11 @@ compute_socket_root, ) -# --------------------------------------------------------------------------- -# Flexiv workspace layout (DisplayPort insertion station) -# --------------------------------------------------------------------------- -# Insertion(mate) point in the robot workspace, socket orientation (opening up, -# matching the verified drop-test seated pose), and the vertical clearance the -# plug starts above the socket. -# -# CALIBRATE: _GEOMETRY_POS must be re-measured for the real DisplayPort fixture -# (reachable by the Flexiv, socket opening facing +Z). Verify reset poses in sim -# before training. +# DisplayPort insertion station layout in the Flexiv workspace. +# _GEOMETRY_POS is the desired insertion (mate) point; _SOCKET_ROT orients the socket opening up. _GEOMETRY_POS = (0.475, 0.125, 0.06) _SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) # opening faces +Z (top-down insertion) -_PLUG_CLEARANCE_Z = 0.068 +_PLUG_CLEARANCE_Z = 0.068 # vertical clearance between plug and socket at reset _SOCKET_ROOT = compute_socket_root(_GEOMETRY_POS, _SOCKET_ROT) _PLUG_ROOT, _PLUG_ROT = compute_plug_pose( @@ -53,9 +41,7 @@ z_clearance=_PLUG_CLEARANCE_Z, ) -# DisplayPort plug insertion length (blade engagement along the insertion axis) -# used by the at-goal curriculum. ~11 mm of blade nests in the socket cavity at -# the verified seated pose. Kept identical to the task-space env. +# Blade engagement along the insertion axis used by the at-goal curriculum [m]. _INSERTION_LENGTH = 0.011 ## @@ -75,35 +61,38 @@ def set_finger_joint_pos_grav( finger_joints: list[int], finger_joint_position: float, ): - """Set finger joint positions for the Grav gripper. + """Set finger joint positions for Grav gripper. Args: - joint_pos: Joint positions tensor for the reset envs slice. - reset_ind_joint_pos: Row indices into the sliced ``joint_pos`` tensor. - finger_joints: List of all gripper joint indices (6 joints total). - finger_joint_position: Target position for the main finger joint [rad]. + joint_pos: Joint positions tensor + reset_ind_joint_pos: Row indices into the sliced joint_pos tensor + finger_joints: List of all gripper joint indices (6 joints total) + finger_joint_position: Target position for main finger joint (in radians) Note: - Grav gripper joint structure (indices from ``finger_joints`` list): - ``[0]`` ``finger_joint`` - main controllable joint - ``[1]`` ``left_inner_knuckle_joint`` - mimic with -1 gearing - ``[2]`` ``right_inner_knuckle_joint`` - mimic with -1 gearing - ``[3]`` ``right_outer_knuckle_joint`` - mimic with -1 gearing - ``[4]`` ``left_outer_finger_joint`` - mimic with +1 gearing - ``[5]`` ``right_outer_finger_joint`` - mimic with +1 gearing + Grav gripper joint structure (indices from finger_joints list): + [0] finger_joint - main controllable joint + [1] left_inner_knuckle_joint - mimic with -1 gearing + [2] right_inner_knuckle_joint - mimic with -1 gearing + [3] right_outer_knuckle_joint - mimic with -1 gearing + [4] left_outer_finger_joint - mimic with +1 gearing + [5] right_outer_finger_joint - mimic with +1 gearing """ for idx in reset_ind_joint_pos: if len(finger_joints) < 6: raise ValueError(f"Grav gripper requires at least 6 finger joints, got {len(finger_joints)}") + # Main controllable joint joint_pos[idx, finger_joints[0]] = finger_joint_position - joint_pos[idx, finger_joints[1]] = finger_joint_position - joint_pos[idx, finger_joints[2]] = finger_joint_position - joint_pos[idx, finger_joints[3]] = finger_joint_position + # Mimic joints with -1 gearing + joint_pos[idx, finger_joints[1]] = finger_joint_position # left_inner_knuckle_joint + joint_pos[idx, finger_joints[2]] = finger_joint_position # right_inner_knuckle_joint + joint_pos[idx, finger_joints[3]] = finger_joint_position # right_outer_knuckle_joint - joint_pos[idx, finger_joints[4]] = -finger_joint_position - joint_pos[idx, finger_joints[5]] = -finger_joint_position + # Mimic joints with +1 gearing + joint_pos[idx, finger_joints[4]] = -finger_joint_position # left_outer_finger_joint + joint_pos[idx, finger_joints[5]] = -finger_joint_position # right_outer_finger_joint ## @@ -161,53 +150,15 @@ class EventCfg: "x": [-0.01, 0.01], "y": [-0.01, 0.01], "z": [-0.02, 0.02], - # "x": [-0.00, 0.00], - # "y": [-0.00, 0.00], - # "z": [-0.00, 0.00], - "roll": [-math.radians(2.0), math.radians(2.0)], - "pitch": [-math.radians(2.0), math.radians(2.0)], - "yaw": [-math.radians(2.0), math.radians(2.0)], - # "roll": [0., 0.], - # "pitch": [0., 0.], - # "yaw": [0., 0.], + "roll": [-math.radians(2.0), math.radians(2.0)], # 2 degree + "pitch": [-math.radians(2.0), math.radians(2.0)], # 2 degree + "yaw": [-math.radians(2.0), math.radians(2.0)], # 2 degree }, "velocity_range": {}, "asset_cfg": SceneEntityCfg("dp_socket"), }, ) - # Disabled: plain uniform plug randomization. Superseded by the at-goal - # curriculum below (re-enable this and comment out reset_plug_curriculum to - # revert to simple uniform plug randomization). - # randomize_plug_pose = EventTerm( - # func=mdp.reset_root_state_uniform, - # mode="reset", - # params={ - # "pose_range": { - # "x": [-0.02, 0.02], - # "y": [-0.02, 0.02], - # "z": [-0.01, 0.01], - # "roll": [0.0, 0.0], - # "pitch": [0.0, 0.0], - # "yaw": [0.0, 0.0], - # }, - # "velocity_range": {}, - # "asset_cfg": SceneEntityCfg("dp_plug"), - # }, - # ) - - # 80% at-goal curriculum (mirrors IsaacLab_UR gb300, osmo at_goal_prob=0.8). - # Identical to the task-space env: IsaacLab_UR applies this curriculum - # regardless of control space (it lives in the object reset, not the - # controller). A fraction `at_goal_prob` of envs spawn the plug already - # inserted at a random depth (0 -> insertion_length) with goal orientation; - # the rest get uniform approach-pose randomization via `normal_pose_range`. - # - # at_goal_prob is annealed linearly from `at_goal_prob` (start) down to - # `at_goal_prob_final` between iterations `anneal_start_iter` and - # `anneal_end_iter`. Iterations are derived from the env step counter via - # `num_steps_per_env` (must match the agent cfg). Set `at_goal_prob_final=None` - # to disable annealing (constant at_goal_prob). reset_plug_curriculum = EventTerm( func=mdp.reset_plug_at_goal_curriculum, mode="reset", @@ -217,22 +168,19 @@ class EventCfg: "at_goal_prob": 0.8, "at_goal_prob_final": 0.0, "anneal_start_iter": 0.0, - "anneal_end_iter": 100.0, + "anneal_end_iter": 500.0, "num_steps_per_env": 512, "insertion_axis": [1.0, 0.0, 0.0], "insertion_length": _INSERTION_LENGTH, + "at_goal_depth_range": [0.0, 0.015], + "approach_depth_range": [0.02, 0.06], "socket_insertion_offset": SOCKET_INSERTION_OFFSET, "plug_insertion_offset": PLUG_INSERTION_OFFSET, "goal_rot": list(PLUG_GOAL_ROT), - # Non-at-goal approach randomization. Matches gb300's - # held_asset_init_pos_range = [0.02, 0.02, 0.01] (x, y, z) [m]. "normal_pose_range": { "x": [-0.02, 0.02], "y": [-0.02, 0.02], - "z": [-0.01, 0.01], - # "x": [-0.00, 0.00], - # "y": [-0.00, 0.00], - # "z": [-0.00, 0.00], + "z": [0.0, 0.0], }, }, ) @@ -283,27 +231,36 @@ class TerminationsCfg: @configclass class Rizon4sGravDisplayportInsertionEnvCfg(DisplayportInsertionEnvCfg): - """Flexiv Rizon 4s + Grav gripper DisplayPort insertion (joint-space).""" + """Configuration for Flexiv Rizon 4s with Grav Gripper DisplayPort insertion. + + The Flexiv Rizon 4s is a 7-DOF collaborative robot arm equipped with the + Flexiv Grav parallel gripper for DisplayPort plug insertion tasks. + """ def __post_init__(self): + # post init of parent super().__post_init__() - self.end_effector_body_name = "flange" - self.num_arm_joints = 7 - # CALIBRATE: flange position in the DisplayPort plug's local frame. - # Seeded from the GB300 grasp offset; the right-angle DP plug/overmold - # geometry differs, so verify the grasp lands on the plug body in sim - # before training (the grasp event solves IK toward plug + this offset). + # Match exponential keypoint reward weight to the linear term (1:1 weighting) + self.rewards.plug_socket_keypoint_tracking_exp.weight = abs( + self.rewards.plug_socket_keypoint_tracking.weight + ) + + # Robot-specific parameters for Flexiv Rizon 4s with Grav gripper + self.end_effector_body_name = "flange" # End effector body name for IK + self.num_arm_joints = 7 # Number of arm joints (Rizon 4s has 7 DOF) + # Grasp offset in the DisplayPort plug's local frame [m] self.grasp_offset = [0.0025, 0.0, -0.1875] - # Identity: the target EEF orientation equals the plug orientation. + # Rotation offset for grasp pose (quaternion [x, y, z, w]) self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] - self.gripper_joint_setter_func = set_finger_joint_pos_grav + self.gripper_joint_setter_func = set_finger_joint_pos_grav # Grav gripper joint setter function - self.plug_orientation_roll_threshold_deg = 15.0 - self.plug_orientation_pitch_threshold_deg = 15.0 - self.plug_orientation_yaw_threshold_deg = 180.0 + # Plug orientation termination thresholds (in degrees) + self.plug_orientation_roll_threshold_deg = 15.0 # Maximum allowed roll deviation + self.plug_orientation_pitch_threshold_deg = 15.0 # Maximum allowed pitch deviation + self.plug_orientation_yaw_threshold_deg = 180.0 # Maximum allowed yaw deviation - # Observation configuration for Rizon 4s arm joints only + # Common observation configuration for Rizon 4s joints (arm only, not gripper) self.observations.policy.joint_pos.params["asset_cfg"].joint_names = [ "joint1", "joint2", @@ -323,10 +280,12 @@ def __post_init__(self): "joint7", ] + # override events self.events = EventCfg() self.terminations = TerminationsCfg() + # Update termination thresholds from config self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( self.plug_orientation_roll_threshold_deg ) @@ -337,6 +296,7 @@ def __post_init__(self): self.plug_orientation_yaw_threshold_deg ) + # Action configuration for Rizon 4s arm self.joint_action_scale = 0.025 _arm_joint_names = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] self.actions.arm_action = mdp.RelativeJointPositionActionCfg( @@ -346,6 +306,7 @@ def __post_init__(self): use_zero_offset=True, ) + # Switch robot to Flexiv Rizon 4s with Grav gripper self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( prim_path="{ENV_REGEX_NS}/Robot", spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( @@ -368,6 +329,7 @@ def __post_init__(self): ), collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), ), + # Joint positions for the DisplayPort insertion station home pose init_state=ArticulationCfg.InitialStateCfg( joint_pos={ "joint1": math.radians(32.44), @@ -383,7 +345,7 @@ def __post_init__(self): ), ) - # Grav gripper actuator configuration (implicit - PhysX built-in joint drives). + # Grav gripper actuator configuration self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( joint_names_expr=["finger_joint"], effort_limit_sim=2.0, @@ -392,6 +354,7 @@ def __post_init__(self): damping=1e1, ) + # Passive/mimic joints in the gripper - set to zero stiffness/damping self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( joint_names_expr=[".*_knuckle_joint"], effort_limit_sim=1.0, @@ -400,6 +363,7 @@ def __post_init__(self): damping=0.0, ) + # Override socket/plug initial states for the DisplayPort insertion station self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( pos=_SOCKET_ROOT, rot=_SOCKET_ROT, @@ -409,15 +373,12 @@ def __post_init__(self): rot=_PLUG_ROT, ) - # Grav gripper widths (joint angles). - # grasp: fingers wide open for approach. - # hold: fingers touching plug surface (no mesh overlap). - # close: fully-closed target that the actuator drives toward. - # CALIBRATE: tune for the DisplayPort plug width. + # Grasp widths for Grav gripper (raw radian values for finger_joint) self.hand_grasp_width = 0.3 self.hand_hold_width = -0.05 self.hand_close_width = -0.155 + # Populate event term parameters self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset @@ -425,6 +386,7 @@ def __post_init__(self): self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 + # Populate termination term parameters self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset @@ -446,21 +408,14 @@ def __post_init__(self): @configclass class Rizon4sGravDisplayportInsertionNoJointVelEnvCfg(Rizon4sGravDisplayportInsertionEnvCfg): - """Joint-space variant that hides joint velocity from the actor (policy). - - Identical to :class:`Rizon4sGravDisplayportInsertionEnvCfg` except the actor - observation drops joint velocity (actor sees joint positions + socket pose - only). The critic keeps joint velocity as privileged information, so the - value function is unaffected. Useful for testing velocity-free deployment - (e.g. when reliable joint-velocity estimates are not available on the real - robot). + """DisplayPort insertion without joint velocity in the policy observation. + + The critic retains joint velocity as privileged information for the value function. """ def __post_init__(self): super().__post_init__() - # Remove joint velocity from the actor group; setting a term to None - # disables it in the manager-based ObservationManager. The critic group - # still includes joint_vel. + # Remove joint velocity from the actor observation group self.observations.policy.joint_vel = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index e64cdd6453c7..5ad500d44307 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -3,13 +3,6 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Joint-space ROS inference configuration for DisplayPort insertion with Flexiv Rizon 4S. - -Inherits from the joint-space training config and adds Isaac Manipulator -metadata fields plus deployment alignment. Mirrors the GB300 -``config/rizon_4s/ros_inference_env_cfg.py``. -""" - import math from isaaclab.assets import RigidObjectCfg @@ -22,56 +15,55 @@ from .joint_pos_env_cfg import Rizon4sGravDisplayportInsertionEnvCfg -# --------------------------------------------------------------------------- -# Deployment socket/plug positions -# --------------------------------------------------------------------------- -# CALIBRATE: geometry pos seeded from the training-env value (GB300 Hubble table -# mount). Re-measure the real DisplayPort fixture pose for the actual station. -# The socket rotation keeps the verified DP orientation (opening facing +Z). -_HUBBLE_GEOMETRY_POS = (0.476, 0.127, 0.07) -# _HUBBLE_GEOMETRY_POS = (0.481, -0.073, 0.071) -_HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) -_HUBBLE_PLUG_CLEARANCE_Z = 0.068 - -_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) -_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( - _HUBBLE_GEOMETRY_POS, - _HUBBLE_SOCKET_ROT, - z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, +# Deployment socket/plug poses for the physical DisplayPort insertion station. +_DEPLOY_GEOMETRY_POS = (0.476, 0.127, 0.07) +_DEPLOY_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) +_DEPLOY_PLUG_CLEARANCE_Z = 0.068 + +_DEPLOY_SOCKET_ROOT = compute_socket_root(_DEPLOY_GEOMETRY_POS, _DEPLOY_SOCKET_ROT) +_DEPLOY_PLUG_ROOT, _DEPLOY_PLUG_ROT = compute_plug_pose( + _DEPLOY_GEOMETRY_POS, + _DEPLOY_SOCKET_ROT, + z_clearance=_DEPLOY_PLUG_CLEARANCE_Z, ) @configclass class Rizon4sGravDisplayportInsertionROSInferenceEnvCfg(Rizon4sGravDisplayportInsertionEnvCfg): - """ROS / Isaac Manipulator inference fields plus deployment alignment. + """Configuration for ROS inference with Flexiv Rizon 4s and Grav gripper. This configuration: - - - Exposes variables needed for Isaac Manipulator ROS inference. - - Aligns robot mounting pose with a vertical (table-top) Flexiv Rizon 4s installation. - - Overrides plug and socket initial poses for a fixed/deterministic setup. + - Exposes variables needed for ROS inference + - Overrides robot and plug/socket initial poses for fixed/deterministic setup """ def __post_init__(self): + # post init of parent super().__post_init__() - # Variables used by Isaac Manipulator for on-robot inference + # Variables used by Isaac Manipulator for on robot inference + # These parameters allow the ROS inference node to validate environment configuration, + # perform checks during inference, and correctly interpret observations and actions. self.obs_order = ["arm_dof_pos", "arm_dof_vel", "socket_pos", "socket_quat"] self.policy_action_space = "joint" + # Use inherited joint names from parent's observation configuration self.arm_joint_names = self.observations.policy.joint_pos.params["asset_cfg"].joint_names + # Use inherited num_arm_joints from parent self.action_space = self.num_arm_joints # State: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat + 3 plug pos + 4 plug quat = 28 self.state_space = 28 # Observation: 7 joint pos + 7 joint vel + 3 socket pos + 4 socket quat = 21 self.observation_space = 21 + # Set joint_action_scale from the existing arm_action.scale self.joint_action_scale = self.actions.arm_action.scale + + # Dynamically generate action_scale_joint_space based on action_space self.action_scale_joint_space = [self.joint_action_scale] * self.action_space - # --- Flexiv Rizon 4s mount: vertical (table-top) --- - # Home joint pose seeds the grasp IK; set to the physical station's pose. + # Override robot initial pose for ROS inference (fixed pose, no randomization) self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) - self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) + self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) # Identity quaternion (x, y, z, w) self.scene.robot.init_state.joint_pos = { "joint1": math.radians(32.44), "joint2": math.radians(-16.71), @@ -82,50 +74,39 @@ def __post_init__(self): "joint7": math.radians(111.54), } - # Wall-mount configuration (GB300 Hubble Lab, rot=(0.5,0.5,0.5,0.5)): - # self.scene.robot.init_state.joint_pos = { - # "joint1": math.radians(-90.0), - # "joint2": math.radians(90.0), - # "joint3": 0.0, - # "joint4": math.radians(90.0), - # "joint5": 0.0, - # "joint6": 0.0, - # "joint7": 0.0, - # } - # self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) - - # Socket/plug positions account for the DisplayPort USD root-to-geometry offset. + # Override socket/plug initial poses (fixed poses for ROS inference) self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_SOCKET_ROOT, - rot=_HUBBLE_SOCKET_ROT, + pos=_DEPLOY_SOCKET_ROOT, + rot=_DEPLOY_SOCKET_ROT, ) self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_PLUG_ROOT, - rot=_HUBBLE_PLUG_ROT, + pos=_DEPLOY_PLUG_ROOT, + rot=_DEPLOY_PLUG_ROT, ) - # Increase IK iterations for the grasp event as a safety margin. self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - # Fixed asset parameters for ROS inference (geometry center, not USD root) - self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) + # Fixed asset parameters for ROS inference - derived from configuration + # These parameters are used by the ROS inference node to validate the environment setup + # and apply appropriate noise models for robust real-world deployment. + self.fixed_asset_init_pos_center = list(_DEPLOY_GEOMETRY_POS) pose_range = self.events.randomize_socket_pose.params["pose_range"] self.fixed_asset_init_pos_range = [ - pose_range["x"][1], - pose_range["y"][1], - pose_range["z"][1], + pose_range["x"][1], # max value + pose_range["y"][1], # max value + pose_range["z"][1], # max value ] - # CALIBRATE: euler equivalent of the DP socket orientation at the station. - # Wall-mount was [0.0, 0.0, -90.0]; vertical mount seeds to [0.0, 0.0, 0.0]. + # Orientation in degrees for the vertical table-top Flexiv mount self.fixed_asset_init_orn_deg = [0.0, 0.0, 0.0] + # Derive orientation range from parent's pose_range (radians to degrees) self.fixed_asset_init_orn_deg_range = [ - math.degrees(pose_range["roll"][1]), + math.degrees(pose_range["roll"][1]), # convert radians to degrees math.degrees(pose_range["pitch"][1]), math.degrees(pose_range["yaw"][1]), ] - + # Derive observation noise level from parent's socket_pos noise configuration socket_pos_noise = self.observations.policy.socket_pos.noise.noise_cfg.n_max self.fixed_asset_pos_obs_noise_level = [ socket_pos_noise, @@ -136,25 +117,17 @@ def __post_init__(self): @configclass class Rizon4sGravDisplayportInsertionNoJointVelROSInferenceEnvCfg(Rizon4sGravDisplayportInsertionROSInferenceEnvCfg): - """ROS inference config for the velocity-free joint-space policy. - - Identical deployment setup to - :class:`Rizon4sGravDisplayportInsertionROSInferenceEnvCfg`, but the actor - observation drops joint velocity (the critic keeps it). The Isaac - Manipulator metadata is updated so the deployed observation vector and order - match the velocity-free actor. - """ + """ROS inference configuration without joint velocity in the policy observation.""" def __post_init__(self): super().__post_init__() - # Drop joint velocity from the actor group (critic still includes it). + # Remove joint velocity from the actor observation group self.observations.policy.joint_vel = None - # Isaac Manipulator metadata for the velocity-free actor. + # Update Isaac Manipulator metadata for the velocity-free actor self.obs_order = ["arm_dof_pos", "socket_pos", "socket_quat"] # Observation: 7 joint pos + 3 socket pos + 4 socket quat = 14 self.observation_space = 14 - # State (critic) is unchanged: 7 jpos + 7 jvel + 3 socket pos + 4 socket - # quat + 3 plug pos + 4 plug quat = 28. + # State (critic) is unchanged: 7 jpos + 7 jvel + 3 socket pos + 4 socket quat + 3 plug pos + 4 plug quat = 28 self.state_space = 28 diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py deleted file mode 100644 index 8181266e4406..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_env_cfg.py +++ /dev/null @@ -1,494 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Task-space DisplayPort insertion environment for Flexiv Rizon 4S + Grav gripper. - -Uses Operational Space Control (OSC) with 6D rotation observations and an -at-goal curriculum, mirroring the GB300 ``task_space_env_cfg.py``. -""" - -import math - -import isaaclab.sim as sim_utils -from isaaclab.actuators import ImplicitActuatorCfg -from isaaclab.assets import ArticulationCfg, RigidObjectCfg -from isaaclab.controllers.operational_space_cfg import OperationalSpaceControllerCfg -from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg -from isaaclab.managers import EventTermCfg as EventTerm -from isaaclab.managers import ObservationGroupCfg as ObsGroup -from isaaclab.managers import ObservationTermCfg as ObsTerm -from isaaclab.managers import SceneEntityCfg -from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.utils import configclass - -import isaaclab_tasks.contrib.deploy.mdp as mdp -import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations -from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( - PLUG_GOAL_ROT, - PLUG_INSERTION_OFFSET, - SOCKET_INSERTION_OFFSET, - DisplayportInsertionEnvCfg, -) - -from .joint_pos_env_cfg import ( - _PLUG_ROOT, - _PLUG_ROT, - _SOCKET_ROOT, - _SOCKET_ROT, - set_finger_joint_pos_grav, -) - -# --------------------------------------------------------------------------- -# Rizon 4S arm joint names (convenience) -# --------------------------------------------------------------------------- -_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] - -# --------------------------------------------------------------------------- -# OSC gains -# --------------------------------------------------------------------------- -# d_gain = 2 * sqrt(p_gain) * damping_ratio -_STIFFNESS = (300.0, 300.0, 300.0, 30.0, 30.0, 30.0) -_DAMPING_RATIO_TRANS = 35.0 / (2.0 * math.sqrt(300.0)) # ~1.010 -_DAMPING_RATIO_ROT = 1.1 / (2.0 * math.sqrt(30.0)) # ~0.100 -_DAMPING_RATIO = ( - _DAMPING_RATIO_TRANS, - _DAMPING_RATIO_TRANS, - _DAMPING_RATIO_TRANS, - _DAMPING_RATIO_ROT, - _DAMPING_RATIO_ROT, - _DAMPING_RATIO_ROT, -) - -# Production action_scale = [0.01]*6 for both position and rotation -_ACTION_SCALE = 0.025 - -# DisplayPort plug insertion length (blade engagement along the insertion axis). -# ~11 mm of blade nests in the socket cavity at the verified seated pose. -_INSERTION_LENGTH = 0.011 - -# Gripper tool-center-point (TCP) offset from the flange body, in the flange's -# local frame [m]. The policy observes the TCP pose (where the plug is actually -# held), not the raw flange. Matches IsaacLab_UR's Flexiv + Grav -# ``gripper_eef_pos_local = [0.0, 0.0, 0.2 - 0.0075]``. Direct cross-check: in -# the live grasp the flange sits ~0.1875-0.1925 m above the held plug along the -# tool axis. -_TCP_OFFSET = [0.0, 0.0, 0.2 - 0.0075] - -## -# Pre-defined configs -## -from isaaclab_assets import FLEXIV_RIZON4S_GRAV_GRIPPER_CFG # isort: skip - - -## -# Observation configuration -## - - -@configclass -class TaskSpaceObservationsCfg: - """Task-space observations with 6D rotation representation.""" - - @configclass - class PolicyCfg(ObsGroup): - """Actor observations: EEF pose + socket keypoint frame (18 dims).""" - - # Observe the gripper TCP pose (flange + _TCP_OFFSET), not the raw flange. - eef_pos = ObsTerm( - func=mdp.eef_pos_w, - params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange", "offset": _TCP_OFFSET}, - ) - # TCP shares the flange orientation (pure-translation offset), so the 6D - # rotation is read directly from the flange body. - eef_rot_6d = ObsTerm( - func=mdp.eef_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("robot"), "body_name": "flange"}, - ) - socket_kp_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, - ) - socket_kp_rot_6d = ObsTerm( - func=mdp.rigid_object_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("dp_socket")}, - ) - - def __post_init__(self): - self.enable_corruption = False - self.concatenate_terms = True - - @configclass - class CriticCfg(ObsGroup): - """Critic observations: joint state + both keypoint frames (32 dims).""" - - joint_pos = ObsTerm( - func=mdp.joint_pos, - params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, - ) - joint_vel = ObsTerm( - func=mdp.joint_vel, - params={"asset_cfg": SceneEntityCfg("robot", joint_names=_ARM_JOINTS)}, - ) - socket_kp_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, - ) - socket_kp_rot_6d = ObsTerm( - func=mdp.rigid_object_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("dp_socket")}, - ) - plug_kp_pos = ObsTerm( - func=mdp.rigid_object_pos_w, - params={"asset_cfg": SceneEntityCfg("dp_plug"), "offset": PLUG_INSERTION_OFFSET}, - ) - plug_kp_rot_6d = ObsTerm( - func=mdp.rigid_object_rot_6d_w, - params={"asset_cfg": SceneEntityCfg("dp_plug")}, - ) - - policy: PolicyCfg = PolicyCfg() - critic: CriticCfg = CriticCfg() - - -## -# Event configuration -## - - -@configclass -class TaskSpaceEventCfg: - """Events for the task-space DisplayPort insertion environment.""" - - plug_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("dp_plug", body_names=".*"), - "static_friction_range": (0.001, 0.001), - "dynamic_friction_range": (0.001, 0.001), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - socket_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("dp_socket", body_names=".*"), - "static_friction_range": (0.001, 0.001), - "dynamic_friction_range": (0.001, 0.001), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - robot_physics_material = EventTerm( - func=mdp.randomize_rigid_body_material, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), - "static_friction_range": (0.75, 0.75), - "dynamic_friction_range": (0.75, 0.75), - "restitution_range": (0.0, 0.0), - "num_buckets": 16, - }, - ) - - reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset") - - randomize_socket_pose = EventTerm( - func=mdp.reset_root_state_uniform, - mode="reset", - params={ - "pose_range": { - "x": [-0.01, 0.01], - "y": [-0.01, 0.01], - "z": [-0.02, 0.02], - # "x": [-0.00, 0.00], - # "y": [-0.00, 0.00], - # "z": [-0.00, 0.00], - # "roll": [-math.radians(2.0), math.radians(2.0)], - # "pitch": [-math.radians(2.0), math.radians(2.0)], - # "yaw": [-math.radians(2.0), math.radians(2.0)], - "roll": [0.0, 0.0], - "pitch": [0.0, 0.0], - "yaw": [0.0, 0.0], - }, - "velocity_range": {}, - "asset_cfg": SceneEntityCfg("dp_socket"), - }, - ) - - # Disabled: plain uniform plug randomization. Superseded by the at-goal - # curriculum below (re-enable this and comment out reset_plug_curriculum to - # match the joint-space env's plug-start setup exactly). - # randomize_plug_pose = EventTerm( - # func=mdp.reset_root_state_uniform, - # mode="reset", - # params={ - # "pose_range": { - # "x": [-0.02, 0.02], - # "y": [-0.02, 0.02], - # "z": [-0.01, 0.01], - # "roll": [0.0, 0.0], - # "pitch": [0.0, 0.0], - # "yaw": [0.0, 0.0], - # }, - # "velocity_range": {}, - # "asset_cfg": SceneEntityCfg("dp_plug"), - # }, - # ) - - # 80% at-goal curriculum (mirrors IsaacLab_UR gb300, osmo at_goal_prob=0.8). - # A fraction `at_goal_prob` of envs spawn the plug already inserted at a random - # depth (0 -> insertion_length) with goal orientation; the rest get uniform - # randomization around the approach pose via `normal_pose_range`. - # - # at_goal_prob is annealed linearly from `at_goal_prob` (start) down to - # `at_goal_prob_final` between iterations `anneal_start_iter` and - # `anneal_end_iter`, so the policy is weaned off goal-seeded starts and must - # learn the full approach by the end of training. Iterations are derived from - # the env step counter via `num_steps_per_env` (must match the agent cfg). - # To disable annealing, set `at_goal_prob_final=None` (constant at_goal_prob). - reset_plug_curriculum = EventTerm( - func=mdp.reset_plug_at_goal_curriculum, - mode="reset", - params={ - "plug_cfg": SceneEntityCfg("dp_plug"), - "socket_cfg": SceneEntityCfg("dp_socket"), - "at_goal_prob": 0.0, - "at_goal_prob_final": 0.0, - "anneal_start_iter": 0.0, - "anneal_end_iter": 1000.0, - "num_steps_per_env": 512, - "insertion_axis": [1.0, 0.0, 0.0], - "insertion_length": _INSERTION_LENGTH, - "socket_insertion_offset": SOCKET_INSERTION_OFFSET, - "plug_insertion_offset": PLUG_INSERTION_OFFSET, - "goal_rot": list(PLUG_GOAL_ROT), - # Non-at-goal approach randomization. Matches gb300's - # held_asset_init_pos_range = [0.02, 0.02, 0.01] (x, y, z) [m]. - "normal_pose_range": { - "x": [-0.02, 0.02], - "y": [-0.02, 0.02], - "z": [-0.01, 0.01], - }, - }, - ) - - set_robot_to_grasp_pose = EventTerm( - func=mdp.set_robot_to_object_grasp_pose, - mode="reset", - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "pos_randomization_range": {"x": [-0.0, 0.0], "y": [-0.0, 0.0], "z": [-0.0, 0.0]}, - "target_object_name": "dp_plug", - "grasp_offset": [0.0, 0.0, 0.0], - }, - ) - - -## -# Terminations -## - - -@configclass -class TaskSpaceTerminationsCfg: - """Termination terms for the task-space DisplayPort insertion.""" - - time_out = DoneTerm(func=mdp.time_out, time_out=True) - - plug_dropped = DoneTerm( - func=cable_terminations.reset_when_plug_dropped, - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "plug_asset_cfg": SceneEntityCfg("dp_plug"), - "distance_threshold": 0.15, - "end_effector_body_name": "link7", - "grasp_offset": [0.0, 0.0, 0.0], - "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], - }, - ) - - plug_orientation_exceeded = DoneTerm( - func=cable_terminations.reset_when_plug_orientation_exceeded, - params={ - "robot_asset_cfg": SceneEntityCfg("robot"), - "plug_asset_cfg": SceneEntityCfg("dp_plug"), - "roll_threshold_deg": 15.0, - "pitch_threshold_deg": 15.0, - "yaw_threshold_deg": 180.0, - "end_effector_body_name": "link7", - "grasp_rot_offset": [0.0, 0.0, 0.0, 1.0], - }, - ) - - -## -# Main environment configuration -## - - -@configclass -class Rizon4sTaskSpaceDisplayportInsertionEnvCfg(DisplayportInsertionEnvCfg): - """Task-space DisplayPort insertion with OSC control, 6D obs, and curriculum.""" - - def __post_init__(self): - super().__post_init__() - - # EEF / grasp settings (same as joint-space variant) - self.end_effector_body_name = "flange" - self.num_arm_joints = 7 - self.grasp_offset = [0.0025, 0.0, -0.1875] - self.grasp_rot_offset = [0.0, 0.0, 0.0, 1.0] - self.gripper_joint_setter_func = set_finger_joint_pos_grav - - self.plug_orientation_roll_threshold_deg = 15.0 - self.plug_orientation_pitch_threshold_deg = 15.0 - self.plug_orientation_yaw_threshold_deg = 180.0 - - # ----- Observations: task-space with 6D rotation ----- - self.observations = TaskSpaceObservationsCfg() - - # ----- Actions: Operational Space Controller ----- - self.actions.arm_action = OperationalSpaceControllerActionCfg( - asset_name="robot", - joint_names=_ARM_JOINTS, - body_name="flange", - controller_cfg=OperationalSpaceControllerCfg( - target_types=["pose_rel"], - impedance_mode="fixed", - inertial_dynamics_decoupling=False, - motion_stiffness_task=_STIFFNESS, - motion_damping_ratio_task=_DAMPING_RATIO, - nullspace_control="none", - ), - position_scale=_ACTION_SCALE, - orientation_scale=_ACTION_SCALE, - ) - - # ----- Events: curriculum + production friction ----- - self.events = TaskSpaceEventCfg() - - # ----- Terminations ----- - self.terminations = TaskSpaceTerminationsCfg() - - self.terminations.plug_orientation_exceeded.params["roll_threshold_deg"] = ( - self.plug_orientation_roll_threshold_deg - ) - self.terminations.plug_orientation_exceeded.params["pitch_threshold_deg"] = ( - self.plug_orientation_pitch_threshold_deg - ) - self.terminations.plug_orientation_exceeded.params["yaw_threshold_deg"] = ( - self.plug_orientation_yaw_threshold_deg - ) - - # ----- Scene: robot ----- - self.scene.robot = FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.replace( - prim_path="{ENV_REGEX_NS}/Robot", - spawn=FLEXIV_RIZON4S_GRAV_GRIPPER_CFG.spawn.replace( - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=True, - max_depenetration_velocity=5.0, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=3666.0, - enable_gyroscopic_forces=True, - solver_position_iteration_count=4, - solver_velocity_iteration_count=1, - max_contact_impulse=1e32, - ), - articulation_props=sim_utils.ArticulationRootPropertiesCfg( - enabled_self_collisions=False, - solver_position_iteration_count=4, - solver_velocity_iteration_count=1, - ), - collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0), - ), - init_state=ArticulationCfg.InitialStateCfg( - joint_pos={ - "joint1": math.radians(32.44), - "joint2": math.radians(-16.71), - "joint3": math.radians(-5.69), - "joint4": math.radians(128.38), - "joint5": math.radians(6.74), - "joint6": math.radians(55.95), - "joint7": math.radians(111.54), - }, - pos=(0.0, 0.0, 0.0), - rot=(0.0, 0.0, 0.0, 1.0), - ), - ) - - # OSC requires the arm joints to be pure torque-controlled. The stock - # Flexiv cfg gives the arm a stiff implicit position PD (stiffness - # 1320/600/216); left enabled it holds every joint at its reset target - # and completely overrides the OSC-computed joint efforts, so the arm - # never moves. Zero the arm PD gains (damping is provided by the OSC via - # ``motion_damping_ratio_task``). Mirrors scripts/tutorials/05_controllers/run_osc.py. - for _arm_actuator in ("shoulder", "elbow", "wrist"): - self.scene.robot.actuators[_arm_actuator].stiffness = 0.0 - self.scene.robot.actuators[_arm_actuator].damping = 0.0 - - # Grav gripper actuator configuration - self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( - joint_names_expr=["finger_joint"], - effort_limit_sim=2.0, - velocity_limit_sim=1.0, - stiffness=2e3, - damping=1e1, - ) - self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( - joint_names_expr=[".*_knuckle_joint"], - effort_limit_sim=1.0, - velocity_limit_sim=1.0, - stiffness=0.0, - damping=0.0, - ) - - # ----- Workspace positions ----- - self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_SOCKET_ROOT, - rot=_SOCKET_ROT, - ) - self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_PLUG_ROOT, - rot=_PLUG_ROT, - ) - - # Gripper widths (same as joint-space variant; CALIBRATE for DP plug) - self.hand_grasp_width = 0.3 - self.hand_hold_width = -0.05 - self.hand_close_width = -0.155 - - # Wire grasp event params - self.events.set_robot_to_grasp_pose.params["end_effector_body_name"] = self.end_effector_body_name - self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints - self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset - self.events.set_robot_to_grasp_pose.params["grasp_offset"] = self.grasp_offset - self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func - self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - - # Wire termination params - self.terminations.plug_dropped.params["end_effector_body_name"] = self.end_effector_body_name - self.terminations.plug_dropped.params["grasp_offset"] = self.grasp_offset - self.terminations.plug_dropped.params["grasp_rot_offset"] = self.grasp_rot_offset - - self.terminations.plug_orientation_exceeded.params["end_effector_body_name"] = self.end_effector_body_name - self.terminations.plug_orientation_exceeded.params["grasp_rot_offset"] = self.grasp_rot_offset - - -@configclass -class Rizon4sTaskSpaceDisplayportInsertionEnvCfg_PLAY(Rizon4sTaskSpaceDisplayportInsertionEnvCfg): - """Play configuration for task-space DisplayPort insertion.""" - - def __post_init__(self): - super().__post_init__() - self.scene.num_envs = 50 - self.scene.env_spacing = 2.5 - self.observations.policy.enable_corruption = False diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py deleted file mode 100644 index 4b2e568e3ac0..000000000000 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/task_space_ros_inference_env_cfg.py +++ /dev/null @@ -1,137 +0,0 @@ -# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""Task-space ROS inference configuration for DisplayPort insertion with Flexiv Rizon 4S. - -Inherits from the task-space training config and adds Isaac Manipulator -metadata fields plus Hubble Lab deployment alignment. Mirrors the GB300 -``config/rizon_4s/task_space_ros_inference_env_cfg.py``. -""" - -import math - -from isaaclab.assets import RigidObjectCfg -from isaaclab.utils import configclass - -from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( - compute_plug_pose, - compute_socket_root, -) - -from .task_space_env_cfg import _ACTION_SCALE, Rizon4sTaskSpaceDisplayportInsertionEnvCfg - -# --------------------------------------------------------------------------- -# Hubble Lab socket/plug positions (same as joint-space ROS inference) -# --------------------------------------------------------------------------- -# CALIBRATE: deployment values seeded from the GB300 cable-insertion ROS config; -# re-measure for the real DisplayPort station (see ros_inference_env_cfg.py). -_HUBBLE_GEOMETRY_POS = (0.475, 0.125, 0.06) -_HUBBLE_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) -_HUBBLE_PLUG_CLEARANCE_Z = 0.068 - -_HUBBLE_SOCKET_ROOT = compute_socket_root(_HUBBLE_GEOMETRY_POS, _HUBBLE_SOCKET_ROT) -_HUBBLE_PLUG_ROOT, _HUBBLE_PLUG_ROT = compute_plug_pose( - _HUBBLE_GEOMETRY_POS, - _HUBBLE_SOCKET_ROT, - z_clearance=_HUBBLE_PLUG_CLEARANCE_Z, -) - - -@configclass -class Rizon4sTaskSpaceDisplayportInsertionROSInferenceEnvCfg(Rizon4sTaskSpaceDisplayportInsertionEnvCfg): - """Task-space ROS / Isaac Manipulator inference config. - - This configuration: - - - Exposes variables needed by Isaac Manipulator for on-robot inference - with task-space (OSC) control and 6D rotation observations. - - Aligns robot mounting pose with a vertical (table-top) Flexiv Rizon 4s - installation (matching the joint-space ROS inference config). - - Overrides plug and socket initial poses for a fixed/deterministic setup. - """ - - def __post_init__(self): - super().__post_init__() - - # Variables used by Isaac Manipulator for on-robot inference - self.obs_order = ["eef_pos", "eef_rot_6d", "socket_kp_pos", "socket_kp_rot_6d"] - self.policy_action_space = "task" - self.arm_joint_names = [ - "joint1", - "joint2", - "joint3", - "joint4", - "joint5", - "joint6", - "joint7", - ] - # 6-DOF task-space actions (3 pos + 3 axis-angle rot) - self.action_space = 6 - # Critic: 7 jpos + 7 jvel + 3 socket_pos + 6 socket_rot6d + 3 plug_pos + 6 plug_rot6d = 32 - self.state_space = 32 - # Actor: 3 eef_pos + 6 eef_rot6d + 3 socket_pos + 6 socket_rot6d = 18 - self.observation_space = 18 - - self.action_scale = [_ACTION_SCALE] * self.action_space - - # --- Flexiv Rizon 4s mount: vertical (table-top) --- - # Home joint pose seeds the grasp IK; set to the physical station's pose. - self.scene.robot.init_state.pos = (0.0, 0.0, 0.0) - self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) - self.scene.robot.init_state.joint_pos = { - "joint1": math.radians(32.44), - "joint2": math.radians(-16.71), - "joint3": math.radians(-5.69), - "joint4": math.radians(128.38), - "joint5": math.radians(6.74), - "joint6": math.radians(55.95), - "joint7": math.radians(111.54), - } - - # Wall-mount configuration (NVIDIA Hubble Lab, rot=(0.5,0.5,0.5,0.5)): - # self.scene.robot.init_state.joint_pos = { - # "joint1": math.radians(-90.0), - # "joint2": math.radians(90.0), - # "joint3": 0.0, - # "joint4": math.radians(90.0), - # "joint5": 0.0, - # "joint6": 0.0, - # "joint7": 0.0, - # } - # self.scene.robot.init_state.rot = (0.5, 0.5, 0.5, 0.5) - - self.scene.dp_socket.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_SOCKET_ROOT, - rot=_HUBBLE_SOCKET_ROT, - ) - - self.scene.dp_plug.init_state = RigidObjectCfg.InitialStateCfg( - pos=_HUBBLE_PLUG_ROOT, - rot=_HUBBLE_PLUG_ROT, - ) - - self.events.set_robot_to_grasp_pose.params["max_iterations"] = 150 - - # Fixed asset parameters for ROS inference (geometry center, not USD root) - self.fixed_asset_init_pos_center = list(_HUBBLE_GEOMETRY_POS) - - pose_range = self.events.randomize_socket_pose.params["pose_range"] - self.fixed_asset_init_pos_range = [ - pose_range["x"][1], - pose_range["y"][1], - pose_range["z"][1], - ] - # CALIBRATE: euler equivalent of the DP socket orientation at the station. - # Wall-mount was [0.0, 0.0, -90.0]; vertical mount seeds to [0.0, 0.0, 0.0]. - # self.fixed_asset_init_orn_deg = [0.0, 0.0, -90.0] - self.fixed_asset_init_orn_deg = [0.0, 0.0, 0.0] - self.fixed_asset_init_orn_deg_range = [ - math.degrees(pose_range["roll"][1]), - math.degrees(pose_range["pitch"][1]), - math.degrees(pose_range["yaw"][1]), - ] - - # No observation noise in task-space production config - self.fixed_asset_pos_obs_noise_level = [0.0, 0.0, 0.0] diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py index b765466324a5..bfeacb9a8d29 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -63,15 +63,10 @@ def _quat_mul(q1_xyzw, q2_xyzw): ) -# --------------------------------------------------------------------------- -# USD body-frame offsets (DisplayPort asset geometry) -# --------------------------------------------------------------------------- -# Root -> insertion(mate) point in each asset's local frame. Derived from the -# verified seated pose with the mating reference point chosen at the socket top -# face. See module docstring; round-trip-verified against the GB300 helpers. +# Asset geometry offsets expressed in each body's local frame. SOCKET_INSERTION_OFFSET = [0.0375, 0.0, 0.0] PLUG_INSERTION_OFFSET = [0.0, 0.0, 0.0221] -# Plug orientation relative to socket at the mated pose, (x, y, z, w). +# Plug orientation relative to socket at the mated pose (x, y, z, w). PLUG_GOAL_ROT = [0.0, -0.70711, 0.0, 0.70711] PLUG_GOAL_ROT_INV = [0.0, 0.70711, 0.0, 0.70711] @@ -107,11 +102,8 @@ def compute_plug_pose(geometry_pos, socket_rot, z_clearance=0.0): return plug_root, plug_rot -# --------------------------------------------------------------------------- -# Default socket/plug workspace positions (drop-test layout, socket opening up) -# --------------------------------------------------------------------------- _INSERTION_POINT = [0.0, 0.0, 0.1875] -_DEFAULT_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) +_DEFAULT_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) # opening faces +Z _SOCKET_ROOT_POS = compute_socket_root(_INSERTION_POINT, _DEFAULT_SOCKET_ROT) _PLUG_ROOT_POS, _DEFAULT_PLUG_ROT = compute_plug_pose( @@ -137,8 +129,6 @@ class DisplayPortPlug(RigidObjectCfg): rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, kinematic_enabled=False, - # Gentle depenetration: high values turn residual mate overlap into - # an explosive ejection. 0.5 lets PhysX resolve overlaps smoothly. max_depenetration_velocity=0.5, linear_damping=0.0, angular_damping=0.0, @@ -147,13 +137,9 @@ class DisplayPortPlug(RigidObjectCfg): enable_gyroscopic_forces=True, solver_position_iteration_count=128, solver_velocity_iteration_count=1, - # Leave uncapped at the PhysX default; pairing a cap with a high - # depenetration velocity amplified contact blow-ups. max_contact_impulse=None, ), mass_props=sim_utils.MassPropertiesCfg(mass=0.03), - # Body5 clearance to blade is ~0.27mm. PhysX fires contact at (plug + socket) offsets combined - # (0.27mm physical gap). Keep plug offset small so there's real clearance before repulsion starts. collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.00001, rest_offset=-0.00005), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_PLUG_ROOT_POS, rot=_DEFAULT_PLUG_ROT) @@ -182,7 +168,6 @@ class DisplayPortSocket(RigidObjectCfg): max_contact_impulse=1e32, ), mass_props=sim_utils.MassPropertiesCfg(mass=None), - # rest_offset negative on socket too: combined rest = -0.15mm so blade can slide in. collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.0001, rest_offset=-0.0001), ) init_state = RigidObjectCfg.InitialStateCfg(pos=_SOCKET_ROOT_POS, rot=_DEFAULT_SOCKET_ROT) @@ -197,7 +182,6 @@ class DisplayPortSocket(RigidObjectCfg): class DisplayportInsertionSceneCfg(InteractiveSceneCfg): """Configuration for the DisplayPort insertion scene.""" - # replicate_physics = False # old: required when spawner patched de-instanced geometry at runtime replicate_physics = True ground = AssetBaseCfg( @@ -240,7 +224,6 @@ class PolicyCfg(ObsGroup): params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, noise=ResetSampledConstantNoiseModelCfg( noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") - # noise_cfg=UniformNoiseCfg(n_min=-0.00, n_max=0.00, operation="add") ), ) socket_quat = ObsTerm( @@ -312,7 +295,7 @@ class RewardsCfg: "offset_1": SOCKET_INSERTION_OFFSET, "offset_2": PLUG_INSERTION_OFFSET, "rot_offset_2": PLUG_GOAL_ROT_INV, - "kp_exp_coeffs": [(50, 0.0001), (300, 0.0001), (600, 0.0001)], + "kp_exp_coeffs": [(50, 0.0001), (300, 0.0001), (600, 0.0001), (2000, 0.0001)], "kp_use_sum_of_exps": False, "keypoint_scale": 0.15, }, @@ -320,8 +303,6 @@ class RewardsCfg: action_rate = RewTerm(func=mdp.action_rate_l2, weight=-5.0e-06) - # action_l2 = RewTerm(func=mdp.action_l2, weight=-5.0e-06) - @configclass class TerminationsCfg: @@ -341,18 +322,12 @@ class DisplayportInsertionEnvCfg(ManagerBasedRLEnvCfg): terminations: TerminationsCfg = TerminationsCfg() events: EventCfg = EventCfg() - # ------------------------------------------------------------------ - # Task-success logging (consumed by ``insertion_env.DisplayportInsertionEnv``). - # ------------------------------------------------------------------ - # Success = plug mate point within ``success_pos_threshold`` (m) of the socket - # mate point, measured from the same keypoint frames as the reward. Purely for - # logging; does not affect observations/actions/rewards/terminations. + # Task-success logging (consumed by DisplayportInsertionEnv) log_success_metrics: bool = True success_socket_asset: str = "dp_socket" success_plug_asset: str = "dp_plug" success_pos_threshold: float = 0.003 success_keypoint_scale: float = 0.15 - # Set from the asset-geometry constants in ``__post_init__``. success_socket_offset: list = MISSING success_plug_offset: list = MISSING success_plug_goal_rot_inv: list = MISSING @@ -383,7 +358,7 @@ def __post_init__(self): self.sim.render_interval = self.decimation self.sim.dt = 1.0 / 240.0 - # Success mate-point geometry mirrors the keypoint-tracking reward. + # Success mate-point geometry mirrors the keypoint-tracking reward self.success_socket_offset = list(SOCKET_INSERTION_OFFSET) self.success_plug_offset = list(PLUG_INSERTION_OFFSET) self.success_plug_goal_rot_inv = list(PLUG_GOAL_ROT_INV) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py index b96a96134d0f..b1fc55cc5c60 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py @@ -5,21 +5,8 @@ """Manager-based insertion env with task-success detection and logging. -This is a thin :class:`~isaaclab.envs.ManagerBasedRLEnv` subclass that adds a -GB300-style success metric (does the held plug sit at the socket's mated pose?) -and logs the success rate to ``extras["log"]`` so RSL-RL surfaces it in -TensorBoard / Weights & Biases during training. It does **not** change the -observation, action, reward, or termination logic, so training dynamics are -identical to the stock ``ManagerBasedRLEnv``. - -Success is measured from the same keypoint frames the keypoint-tracking reward -uses: the socket's mate reference point (root + ``socket_offset``) and the -plug's mate reference point (root + ``plug_offset`` with the goal rotation -offset applied). At the verified seated pose these frames coincide, so a small -mate-point distance means the plug is inserted. We deliberately reuse the exact -``combine_frame_transforms`` call pattern and the same offset constants as the -reward term to stay agnostic to the (x, y, z, w) quaternion convention of the -Newton/warp backend. +Adds success metrics to ``extras["log"]`` for RSL-RL without changing the MDP +observation, action, reward, or termination logic. """ from __future__ import annotations @@ -32,40 +19,25 @@ def _keypoint_offsets_6d(device: torch.device) -> torch.Tensor: - """Return the 7 unit keypoint offsets (center + ±x/±y/±z) used by the reward. - - Mirrors ``deploy.mdp.rewards._get_keypoint_offsets_full_6d(add_cube_center_kp=True)`` - so the logged keypoint distance matches the training reward's keypoint distance. - """ + """Return the 7 unit keypoint offsets used by the keypoint reward.""" corners = torch.tensor([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]], device=device, dtype=torch.float32) - return torch.cat((corners, -corners[-3:]), dim=0) # (7, 3) + return torch.cat((corners, -corners[-3:]), dim=0) class DisplayportInsertionEnv(ManagerBasedRLEnv): - """``ManagerBasedRLEnv`` that additionally computes and logs a task-success rate. - - The following scalars are added to ``extras["log"]`` (RSL-RL logs them): - - - ``Metrics/success_rate``: instantaneous fraction of envs whose plug mate - point is within ``success_pos_threshold`` of the socket mate point (logged - every step). - - ``Metrics/plug_socket_pos_error_m``: mean mate-point distance (m). - - ``Metrics/plug_socket_keypoint_dist_m``: mean keypoint distance (m), the - same quantity the keypoint reward minimizes. - - ``Metrics/terminal_success_rate``: success fraction evaluated on envs at the - instant they reset (episode-end success), logged on reset steps. - - All parameters are read from the env cfg (see ``DisplayportInsertionEnvCfg``) - with safe fallbacks, so this class also works with cfgs that do not define - the success fields. + """Manager-based RL env that logs insertion success metrics during training. + + The following scalars are added to ``extras["log"]``: + + - ``Metrics/success_rate``: fraction of envs within the success threshold + - ``Metrics/plug_socket_pos_error_m``: mean mate-point distance (m) + - ``Metrics/plug_socket_keypoint_dist_m``: mean keypoint distance (m) + - ``Metrics/terminal_success_rate``: success fraction at episode reset """ def __init__(self, cfg, render_mode: str | None = None, **kwargs): super().__init__(cfg, render_mode=render_mode, **kwargs) - # Read (optional) success-logging config with safe defaults. These are set - # after ``super().__init__`` so the ``_reset_idx`` override that runs during - # construction skips logging (guarded via ``getattr``). self._log_success_metrics: bool = bool(getattr(cfg, "log_success_metrics", True)) self._success_socket_asset: str = getattr(cfg, "success_socket_asset", "dp_socket") self._success_plug_asset: str = getattr(cfg, "success_plug_asset", "dp_plug") @@ -83,18 +55,13 @@ def __init__(self, cfg, render_mode: str | None = None, **kwargs): getattr(cfg, "success_plug_goal_rot_inv", [0.0, 0.0, 0.0, 1.0]), device=device, dtype=torch.float32 ) - # Pre-allocated constants for the keypoint computation. self._success_identity_quat = torch.tensor([[0.0, 0.0, 0.0, 1.0]], device=device, dtype=torch.float32).repeat( self.num_envs, 1 ) - self._success_kp_offsets = _keypoint_offsets_6d(device) * self._success_keypoint_scale # (7, 3) + self._success_kp_offsets = _keypoint_offsets_6d(device) * self._success_keypoint_scale def _compute_success(self) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: - """Compute per-env success mask, mate-point distance, and keypoint distance. - - Returns: - Tuple ``(is_success, pos_error, keypoint_dist)`` each of shape ``(num_envs,)``. - """ + """Compute per-env success mask, mate-point distance, and keypoint distance.""" socket = self.scene[self._success_socket_asset] plug = self.scene[self._success_plug_asset] @@ -108,13 +75,12 @@ def _compute_success(self) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: plug_off = self._success_plug_offset.unsqueeze(0).expand(n, -1) plug_goal_rot_inv = self._success_plug_goal_rot_inv.unsqueeze(0).expand(n, -1) - # Mate reference frames (identical construction to keypoint_two_body_error). + # Mate reference frames (same construction as keypoint_two_body_error) kp_pos_s, kp_quat_s = combine_frame_transforms(socket_pos, socket_quat, socket_off, self._success_identity_quat) kp_pos_p, kp_quat_p = combine_frame_transforms(plug_pos, plug_quat, plug_off, plug_goal_rot_inv) pos_error = torch.linalg.norm(kp_pos_p - kp_pos_s, dim=-1) - # Mean keypoint distance over the 7 spread keypoints (captures orientation too). k = self._success_kp_offsets.shape[0] offs_flat = self._success_kp_offsets.unsqueeze(0).expand(n, -1, -1).reshape(-1, 3) ident_flat = self._success_identity_quat.unsqueeze(1).expand(-1, k, -1).reshape(-1, 4) @@ -147,9 +113,6 @@ def step(self, action: torch.Tensor): return obs_buf, reward_buf, terminated, time_outs, self.extras def _reset_idx(self, env_ids): - # Evaluate success on the pre-reset state of the resetting envs so we get a - # clean per-episode ("terminal") success rate. Guarded with getattr because - # the parent constructor calls _reset_idx before our attributes are set. terminal_success = None if getattr(self, "_log_success_metrics", False): is_success, _, _ = self._compute_success() @@ -157,7 +120,5 @@ def _reset_idx(self, env_ids): super()._reset_idx(env_ids) - # super()._reset_idx() reset extras["log"] and repopulated it with the - # Episode_* stats; append our terminal metric so it survives to step()'s return. if terminal_success is not None: self.extras["log"]["Metrics/terminal_success_rate"] = terminal_success diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index 1d77ee2ab6a5..c4f090bd8f44 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -812,6 +812,10 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): self.insertion_length: float = cfg.params.get("insertion_length", 0.02) + # Optional depth ranges along the insertion axis, measured from the socket keypoint origin. + self.at_goal_depth_range = cfg.params.get("at_goal_depth_range", None) + self.approach_depth_range = cfg.params.get("approach_depth_range", None) + socket_offset = cfg.params.get("socket_insertion_offset", [0.0, 0.0, 0.0]) self.socket_insertion_offset = torch.tensor(socket_offset, device=env.device, dtype=torch.float32) @@ -858,6 +862,8 @@ def __call__( anneal_start_iter: float = 0.0, anneal_end_iter: float | None = None, num_steps_per_env: int | None = None, + at_goal_depth_range: list | None = None, + approach_depth_range: list | None = None, ): num_envs = len(env_ids) @@ -884,42 +890,60 @@ def __call__( plug_offset_batch = self.plug_insertion_offset.unsqueeze(0).expand(num_envs, -1) plug_kp_in_world = math_utils.quat_apply(goal_quat_w, plug_offset_batch) - # Default (normal) reset: small random perturbation around default plug pose - pose_range = self.normal_pose_range - rand_pos = torch.zeros(num_envs, 3, device=env.device) - for i, key in enumerate(["x", "y", "z"]): - rng = pose_range.get(key, [0.0, 0.0]) - rand_pos[:, i] = torch.empty(num_envs, device=env.device).uniform_(rng[0], rng[1]) - - default_plug_pos = wp.to_torch(self.plug.data.default_root_state)[env_ids, :3] + env.scene.env_origins[env_ids] - normal_plug_pos = default_plug_pos + rand_pos - normal_plug_quat = wp.to_torch(self.plug.data.default_root_state)[env_ids, 3:7] - - plug_pos = normal_plug_pos.clone() - plug_quat = normal_plug_quat.clone() - - # At-goal curriculum: place fraction of envs along insertion axis. - # The probability may be annealed over training iterations. + # At-goal probability for the current training progress (may be annealed). current_at_goal_prob = self._current_at_goal_prob(env) - if current_at_goal_prob > 0.0 and num_envs > 0: - # Per-env Bernoulli draw: each resetting env independently has - # probability `current_at_goal_prob` of being seeded at goal. This is - # robust to the reset batch size, including single-env resets - # (manager-based envs reset per-termination, so batches are often - # size 1 -- a fixed `int(num_envs * prob)` count would round down to - # 0 there). + + if self.approach_depth_range is None: + pose_range = self.normal_pose_range + rand_pos = torch.zeros(num_envs, 3, device=env.device) + for i, key in enumerate(["x", "y", "z"]): + rng = pose_range.get(key, [0.0, 0.0]) + rand_pos[:, i] = torch.empty(num_envs, device=env.device).uniform_(rng[0], rng[1]) + + default_plug_pos = wp.to_torch(self.plug.data.default_root_state)[env_ids, :3] + env.scene.env_origins[env_ids] + normal_plug_pos = default_plug_pos + rand_pos + normal_plug_quat = wp.to_torch(self.plug.data.default_root_state)[env_ids, 3:7] + + plug_pos = normal_plug_pos.clone() + plug_quat = normal_plug_quat.clone() + + if current_at_goal_prob > 0.0 and num_envs > 0: + at_goal_mask = torch.rand(num_envs, device=env.device) < current_at_goal_prob + at_goal_local = at_goal_mask.nonzero(as_tuple=False).squeeze(-1) + num_at_goal = int(at_goal_local.numel()) + if num_at_goal > 0: + depth_rand = torch.rand(num_at_goal, 1, device=env.device) + goal_kp_pos = ( + kp_origin_w[at_goal_local] + + depth_rand * insertion_axis_w[at_goal_local] * self.insertion_length + ) + + plug_pos[at_goal_local] = goal_kp_pos - plug_kp_in_world[at_goal_local] + plug_quat[at_goal_local] = goal_quat_w[at_goal_local] + else: at_goal_mask = torch.rand(num_envs, device=env.device) < current_at_goal_prob - at_goal_local = at_goal_mask.nonzero(as_tuple=False).squeeze(-1) - num_at_goal = int(at_goal_local.numel()) - if num_at_goal > 0: - depth_rand = torch.rand(num_at_goal, 1, device=env.device) - goal_kp_pos = ( - kp_origin_w[at_goal_local] + depth_rand * insertion_axis_w[at_goal_local] * self.insertion_length - ) - # Convert keypoint position to plug root position - plug_pos[at_goal_local] = goal_kp_pos - plug_kp_in_world[at_goal_local] - plug_quat[at_goal_local] = goal_quat_w[at_goal_local] + at_goal_range = ( + self.at_goal_depth_range if self.at_goal_depth_range is not None else [0.0, self.insertion_length] + ) + depth_at_goal = torch.empty(num_envs, device=env.device).uniform_( + float(at_goal_range[0]), float(at_goal_range[1]) + ) + depth_approach = torch.empty(num_envs, device=env.device).uniform_( + float(self.approach_depth_range[0]), float(self.approach_depth_range[1]) + ) + depth = torch.where(at_goal_mask, depth_at_goal, depth_approach) + + pose_range = self.normal_pose_range + rand_pos = torch.zeros(num_envs, 3, device=env.device) + for i, key in enumerate(["x", "y", "z"]): + rng = pose_range.get(key, [0.0, 0.0]) + rand_pos[:, i] = torch.empty(num_envs, device=env.device).uniform_(rng[0], rng[1]) + rand_pos[at_goal_mask] = 0.0 + + goal_kp_pos = kp_origin_w + depth.unsqueeze(-1) * insertion_axis_w + plug_pos = goal_kp_pos - plug_kp_in_world + rand_pos + plug_quat = goal_quat_w.clone() new_root_pose = torch.cat([plug_pos, plug_quat], dim=-1) zero_vel = torch.zeros(num_envs, 6, device=env.device, dtype=torch.float32) From bcde7e86d05fcc2ebd9f6d26d82bd8e177c3c3f1 Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Thu, 16 Jul 2026 12:09:54 -0700 Subject: [PATCH 61/65] Formatting fixes. --- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 4 +--- .../isaaclab_tasks/contrib/deploy/mdp/events.py | 4 +++- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 3d44b47e8ba8..b86bc8bf8cf7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -242,9 +242,7 @@ def __post_init__(self): super().__post_init__() # Match exponential keypoint reward weight to the linear term (1:1 weighting) - self.rewards.plug_socket_keypoint_tracking_exp.weight = abs( - self.rewards.plug_socket_keypoint_tracking.weight - ) + self.rewards.plug_socket_keypoint_tracking_exp.weight = abs(self.rewards.plug_socket_keypoint_tracking.weight) # Robot-specific parameters for Flexiv Rizon 4s with Grav gripper self.end_effector_body_name = "flange" # End effector body name for IK diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py index c4f090bd8f44..6e6f72618b4b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/events.py @@ -900,7 +900,9 @@ def __call__( rng = pose_range.get(key, [0.0, 0.0]) rand_pos[:, i] = torch.empty(num_envs, device=env.device).uniform_(rng[0], rng[1]) - default_plug_pos = wp.to_torch(self.plug.data.default_root_state)[env_ids, :3] + env.scene.env_origins[env_ids] + default_plug_pos = ( + wp.to_torch(self.plug.data.default_root_state)[env_ids, :3] + env.scene.env_origins[env_ids] + ) normal_plug_pos = default_plug_pos + rand_pos normal_plug_quat = wp.to_torch(self.plug.data.default_root_state)[env_ids, 3:7] From 5b28b6827b3f467a2079cc2d8806be0f088bcbed Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Fri, 17 Jul 2026 16:38:44 -0700 Subject: [PATCH 62/65] Added documentation for dp cable insertion training. --- .../displayport_insertion_policy.rst | 803 ++++++++++++++++++ docs/source/policy_deployment/index.rst | 1 + 2 files changed, 804 insertions(+) create mode 100644 docs/source/policy_deployment/06_displayport_insertion/displayport_insertion_policy.rst diff --git a/docs/source/policy_deployment/06_displayport_insertion/displayport_insertion_policy.rst b/docs/source/policy_deployment/06_displayport_insertion/displayport_insertion_policy.rst new file mode 100644 index 000000000000..38f5dcbab6b1 --- /dev/null +++ b/docs/source/policy_deployment/06_displayport_insertion/displayport_insertion_policy.rst @@ -0,0 +1,803 @@ +.. _walkthrough_dp_insertion: + +Training a DisplayPort Cable Insertion Policy and ROS Deployment +================================================================ + +This tutorial walks you through how to train a DisplayPort plug insertion reinforcement learning (RL) policy that transfers from simulation to a real Flexiv robot. The workflow consists of two main stages: + +1. **Simulation Training in Isaac Lab**: Train the policy in a high-fidelity physics simulation with domain randomization +2. **LEAPP Export and Real Robot Deployment**: Export the trained policy with LEAPP, then deploy on hardware with Isaac ROS / Isaac Manipulator + +This walkthrough covers the key principles and best practices for sim-to-real transfer using Isaac Lab. + +**Supported Robot:** + +- **Flexiv Rizon 4s**: 7-DOF collaborative robot arm with Grav parallel gripper + +**Task Details:** + +The DisplayPort insertion policy operates as follows: + +1. **Initial State**: The policy assumes the DisplayPort plug is already grasped by the gripper at the start of the episode +2. **Input Observations**: The policy receives the pose of the socket insertion point (position and orientation) from a separate perception pipeline +3. **Policy Output**: The policy outputs delta joint positions (incremental changes to arm joint angles) to control the robot and perform the insertion +4. **Task Goal**: Insert the right-angle DisplayPort plug into a fixed socket until the mate point aligns within the success threshold + +**Scope of This Tutorial:** + +This tutorial covers **training and LEAPP export** in Isaac Lab. For the complete on-robot workflow (vision pipeline, robot interface, ROS inference node), refer to the `Isaac ROS Documentation `_ after exporting your policy. + +**Code Layout:** + +The task follows the same structure as the gear assembly deploy environments: + +- ``isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py`` — shared task MDP (scene, assets, observations, rewards) +- ``isaaclab_tasks/contrib/deploy/cable_insertion/insertion_env.py`` — environment class that logs insertion success metrics during training +- ``isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/`` — Flexiv Rizon 4s + Grav robot-specific overrides and gym registrations + +Overview +-------- + +Successful sim-to-real transfer requires addressing three fundamental aspects: + +1. **Input Consistency**: Ensuring the observations your policy receives in simulation match those available on the real robot +2. **System Response Consistency**: Ensuring the robot and environment respond to actions in simulation the same way they do in reality +3. **Output Consistency**: Ensuring any post-processing applied to policy outputs in Isaac Lab is also applied during real-world inference + +When all three aspects are properly addressed, policies trained purely in simulation can achieve robust performance on real hardware without any real-world training data. + +**Debugging Tip**: When your policy fails on the real robot, set up the real robot with the same initial observations as in simulation, then compare how the controller responds. This isolates whether the problem is from observation mismatch (Input Consistency) or physics/controller mismatch (System Response Consistency). + +Asset Quality for Insertion Tasks +---------------------------------- + +For any contact-rich insertion task, **the quality of the plug and socket assets matters more than most other sim-to-real knobs**. DisplayPort insertion in particular operates at very small clearances between plug blades and the socket cavity. If the USD collision geometry, mass properties, or joint behavior are wrong, no amount of reward tuning or domain randomization will produce a policy that transfers well to hardware. + +The current DisplayPort assets in ``display_cable_insertion_assets/`` (``display_port_plug_fixed_sdf.usd`` and ``display_port_socket_fixed_sdf_noprotrusions.usd``) have been iterated extensively and work well for training policies that transfer sim-to-real. Expect significant upfront effort to reach this quality for a new connector or cable type. + +**What to validate before training:** + +1. **Static insertion pose stability**: Load the plug fully inserted into the socket at the goal pose (no robot, no gripper). The plug should remain seated without drifting, jittering, or being ejected by contact forces. Persistent separation or slow creep at the mated pose usually indicates incorrect collision meshes, rest offsets, or mass/inertia. +2. **Collision fidelity at clearance scale**: Blade-to-cavity gaps are sub-millimeter. Convex hulls or coarse meshes often produce false contacts, snagging, or penetration. SDF or carefully authored triangle meshes with tuned ``contact_offset`` / ``rest_offset`` are typically required. +3. **Engagement behavior**: Push the plug through the approach path by hand (or with scripted motion) and confirm contact feels plausible — no explosive pops, no tunneling through the socket wall, no sticky high-friction jamming unless that matches the real connector. +4. **Grasped plug stability**: With the gripper closed at the training grasp width, the plug should not spin or slip unrealistically when the arm moves. Cable mass and plug COM should be representative of the real assembly. +5. **Mate-point alignment**: Verify ``SOCKET_INSERTION_OFFSET``, ``PLUG_INSERTION_OFFSET``, and ``PLUG_GOAL_ROT`` in ``displayport_insertion_env_cfg.py`` match the intended physical mate frame. Reward and success metrics are computed from these offsets; a mismatch here looks like a perception error on the real robot. + +**Practical workflow:** + +1. Fix assets in isolation (drop-test or basic play env with fixed poses) before running full RL training. +2. Compare sim behavior to real hardware video at the same poses — look for drift, bounce, and penetration, not policy success rate. +3. Only after assets pass these checks, tune curriculum, rewards, and domain randomization. + +.. note:: + + Poor asset quality often shows up as policies that learn high training success but fail on hardware with inconsistent contact behavior, or as training that never achieves high ``Metrics/success_rate`` despite reward tuning. Fix the assets first. + +Part 1: Input Consistency +-------------------------- + +The observations your policy receives must be consistent between simulation and reality. This means: + +1. The observation space should only include information available from real sensors +2. Sensor noise and delays should be modeled appropriately + +Using Real-Robot-Available Observations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +Your simulation environment should only use observations that are available on the real robot and not use "privileged" information that would not be available in deployment. The critic receives additional privileged observations (plug pose and joint velocities) to improve value estimation during training, but these are not passed to the actor at deployment time. + + +Observation Specification +^^^^^^^^^^^^^^^^^^^^^^^^^ + +The DisplayPort insertion environment uses proprioceptive and exteroceptive (vision) observations: + +.. list-table:: DisplayPort Insertion Environment Observations (Flexiv Rizon 4s) + :widths: 25 10 25 20 + :header-rows: 1 + + * - Observation + - Dim + - Real-World Source + - Noise + * - ``joint_pos`` (arm only) + - 7 + - Robot controller + - None + * - ``joint_vel`` (arm only, optional) + - 7 + - Robot controller + - None + * - ``socket_pos`` (insertion mate point) + - 3 + - Perception pipeline + - ±10mm + * - ``socket_quat`` + - 4 + - Perception pipeline + - None + +**Recommended shipping configuration** (``NoJointVel`` variants): **14** policy dimensions (7 joint positions + 3 socket position + 4 socket quaternion). + +**Training configuration with joint velocity** (``Grav`` variants without ``NoJointVel``): **21** policy dimensions. + +.. note:: + + **Sim-to-real recommendation: use the NoJointVel variant.** Policies trained with ``joint_vel`` in the actor observation can achieve slightly higher success rates in simulation, but we consistently observe less stable behavior on the real Flexiv robot (jittery motions, inconsistent contact during insertion). For deployment, train and ship with the ``NoJointVel`` environments. + + The ``NoJointVel`` configs remove ``joint_vel`` from the actor observation while keeping it in the critic observation group. This matches deployment setups where joint velocity is not exposed to the policy network but can still help the value function during training. + +**Implementation (base class):** + +.. code-block:: python + + @configclass + class PolicyCfg(ObsGroup): + """Observations for policy group.""" + + joint_pos = ObsTerm( + func=mdp.joint_pos, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}, + ) + joint_vel = ObsTerm( + func=mdp.joint_vel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*"])}, + ) + socket_pos = ObsTerm( + func=mdp.rigid_object_pos_w, + params={"asset_cfg": SceneEntityCfg("dp_socket"), "offset": SOCKET_INSERTION_OFFSET}, + noise=ResetSampledConstantNoiseModelCfg( + noise_cfg=UniformNoiseCfg(n_min=-0.01, n_max=0.01, operation="add") # ±10mm + ), + ) + socket_quat = ObsTerm( + func=mdp.rigid_object_quat_w, + params={"asset_cfg": SceneEntityCfg("dp_socket")}, + ) + + def __post_init__(self): + self.enable_corruption = True + self.concatenate_terms = True + +**Rizon 4s overrides** (in ``config/displayport_rizon_4s/joint_pos_env_cfg.py``): + +.. code-block:: python + + # Arm joints only — gripper joints are excluded from observations + self.observations.policy.joint_pos.params["asset_cfg"].joint_names = [ + "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7", + ] + +**Why No Noise for Proprioceptive Observations?** + +As with the gear assembly task, policies trained without noise on proprioceptive observations (joint positions) transfer well to the Flexiv Rizon 4s. The controller provides sufficiently accurate joint state feedback that modeling sensor noise on joint states does not improve sim-to-real transfer for this task. + + +Part 2: System Response Consistency +------------------------------------ + +Once your observations are consistent, ensure the simulated robot and environment respond to actions the same way the real system does. For DisplayPort insertion this involves: + +1. Physics simulation parameters (friction, contact properties, plug/socket collision meshes) +2. Actuator modeling (PD controller gains, effort limits) +3. Domain randomization and curriculum + +Physics Parameter Tuning +~~~~~~~~~~~~~~~~~~~~~~~~~ + +Accurate physics simulation is critical for contact-rich insertion. The DisplayPort plug and socket use SDF collision meshes with high solver iteration counts on the rigid bodies: + +.. code-block:: python + + # From displayport_insertion_env_cfg.py — DisplayPortPlug / DisplayPortSocket + rigid_props=sim_utils.RigidBodyPropertiesCfg( + solver_position_iteration_count=128, + solver_velocity_iteration_count=1, + max_depenetration_velocity=0.5, # plug; socket uses 5.0 + ), + collision_props=sim_utils.CollisionPropertiesCfg( + contact_offset=0.00001, # plug + rest_offset=-0.00005, + ), + +The Flexiv Rizon 4s arm uses lower solver iteration counts for performance, matching the gear assembly Flexiv configuration: + +.. code-block:: python + + # From config/displayport_rizon_4s/joint_pos_env_cfg.py + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=True, + max_depenetration_velocity=5.0, + solver_position_iteration_count=4, + solver_velocity_iteration_count=1, + max_contact_impulse=1e32, + ), + collision_props=sim_utils.CollisionPropertiesCfg( + contact_offset=0.005, + rest_offset=0.0, + ), + +**Friction randomization** (in ``config/displayport_rizon_4s/joint_pos_env_cfg.py``): + +.. code-block:: python + + plug_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("dp_plug", body_names=".*"), + "static_friction_range": (0.001, 0.001), + "dynamic_friction_range": (0.001, 0.001), + }, + ) + + robot_physics_material = EventTerm( + func=mdp.randomize_rigid_body_material, + mode="startup", + params={ + "asset_cfg": SceneEntityCfg("robot", body_names=".*finger.*"), + "static_friction_range": (0.75, 0.75), + "dynamic_friction_range": (0.75, 0.75), + }, + ), + +Low plug/socket friction reduces sticking during blade engagement. Gripper finger friction is set to match real grasp behavior. + +Actuator Modeling +~~~~~~~~~~~~~~~~~ + +The Rizon 4s uses ``ImplicitActuatorCfg`` with per-joint-group arm tuning from ``FLEXIV_RIZON4S_GRAV_GRIPPER_CFG``, plus dedicated Grav gripper actuators: + +.. code-block:: python + + # Grav gripper actuator configuration + self.scene.robot.actuators["gripper_drive"] = ImplicitActuatorCfg( + joint_names_expr=["finger_joint"], + effort_limit_sim=2.0, + velocity_limit_sim=1.0, + stiffness=2e3, + damping=1e1, + ) + self.scene.robot.actuators["gripper_passive"] = ImplicitActuatorCfg( + joint_names_expr=[".*_knuckle_joint"], + effort_limit_sim=1.0, + velocity_limit_sim=1.0, + stiffness=0.0, + damping=0.0, + ) + +.. note:: + + **Flexiv Rizon 4s**: Domain randomization for actuator gains and joint friction is not included in the Rizon 4s ``EventCfg``. The real-world Flexiv controller is stable and precise enough that the simulation policy transfers without these additional randomizations, consistent with the gear assembly Flexiv setup. + +Action Space Design +~~~~~~~~~~~~~~~~~~~ + +The policy controls only the 7 arm joints using **incremental joint position control**. The gripper is not in the action space — the plug is held at a fixed grasp width for the episode. + +.. code-block:: python + + self.joint_action_scale = 0.025 # ±1.4 degrees per step + + self.actions.arm_action = mdp.RelativeJointPositionActionCfg( + asset_name="robot", + joint_names=["joint1", "joint2", "joint3", "joint4", + "joint5", "joint6", "joint7"], + scale=self.joint_action_scale, + use_zero_offset=True, + ) + +**Action dimension:** 7 + +**Control frequency:** ``sim.dt = 1/240`` s with ``decimation = 8`` → 30 Hz policy rate. + +Domain Randomization Strategy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +**Socket pose randomization** perturbs the fixed socket to cover perception and mounting variation: + +.. code-block:: python + + randomize_socket_pose = EventTerm( + func=mdp.reset_root_state_uniform, + mode="reset", + params={ + "pose_range": { + "x": [-0.01, 0.01], # ±1 cm + "y": [-0.01, 0.01], # ±1 cm + "z": [-0.02, 0.02], # ±2 cm + "roll": [-math.radians(2.0), math.radians(2.0)], + "pitch": [-math.radians(2.0), math.radians(2.0)], + "yaw": [-math.radians(2.0), math.radians(2.0)], + }, + "asset_cfg": SceneEntityCfg("dp_socket"), + }, + ) + +**Plug reset curriculum** starts episodes with the plug near the goal pose and anneals toward farther approach poses: + +.. code-block:: python + + reset_plug_curriculum = EventTerm( + func=mdp.reset_plug_at_goal_curriculum, + mode="reset", + params={ + "at_goal_prob": 0.8, + "at_goal_prob_final": 0.0, + "anneal_start_iter": 0.0, + "anneal_end_iter": 500.0, + "num_steps_per_env": 512, + "insertion_axis": [1.0, 0.0, 0.0], + "at_goal_depth_range": [0.0, 0.015], # 0–15 mm engaged + "approach_depth_range": [0.02, 0.06], # 20–60 mm approach + "normal_pose_range": { + "x": [-0.02, 0.02], + "y": [-0.02, 0.02], + "z": [0.0, 0.0], + }, + }, + ) + +At the start of training, 80% of resets place the plug near the inserted pose; this probability linearly anneals to 0% over 500 training iterations, forcing the policy to learn full approach and insertion. + +**Initial robot pose** is set via inverse kinematics to a grasp pose on the plug at each reset: + +.. code-block:: python + + set_robot_to_grasp_pose = EventTerm( + func=mdp.set_robot_to_object_grasp_pose, + mode="reset", + params={ + "target_object_name": "dp_plug", + "grasp_offset": [0.0025, 0.0, -0.1875], # plug local frame [m] + "end_effector_body_name": "flange", + "num_arm_joints": 7, + }, + ) + +Reward Shaping +~~~~~~~~~~~~~~ + +The environment uses keypoint-based rewards that measure alignment between the plug and socket insertion mate points. Reward terms are defined in ``displayport_insertion_env_cfg.py``: + +- **Keypoint tracking** (``plug_socket_keypoint_tracking``): Penalizes L2 keypoint distance between plug and socket mate frames +- **Exponential keypoint tracking** (``plug_socket_keypoint_tracking_exp``): Dense exponential reward for fine alignment +- **Action rate** (``action_rate_l2``): Penalizes large action changes for smooth motions + +The Rizon 4s config sets the linear and exponential keypoint reward weights to a **1:1 ratio**: + +.. code-block:: python + + self.rewards.plug_socket_keypoint_tracking_exp.weight = abs( + self.rewards.plug_socket_keypoint_tracking.weight + ) + +Terminations +~~~~~~~~~~~~ + +In addition to the episode timeout, the Rizon 4s config terminates early when: + +- **Plug dropped**: End-effector moves more than 15 cm away from the plug grasp point +- **Plug orientation exceeded**: Roll or pitch deviation exceeds 15° relative to the grasp frame + +Training Metrics +~~~~~~~~~~~~~~~~ + +Unlike gear assembly, this task uses a custom environment class (``DisplayportInsertionEnv``) to log insertion metrics to TensorBoard without changing the MDP: + +- ``Metrics/success_rate`` — fraction of environments within the 3 mm mate-point threshold +- ``Metrics/plug_socket_pos_error_m`` — mean mate-point distance +- ``Metrics/plug_socket_keypoint_dist_m`` — mean keypoint distance +- ``Metrics/terminal_success_rate`` — success rate at episode reset + + +Tuning Hyperparameters for Better Performance +---------------------------------------------- + +After asset quality and physics look correct, the following hyperparameters are the main levers for improving training speed, final success rate, and sim-to-real robustness. Defaults below are the shipped Flexiv Rizon 4s values; adjust one group at a time and monitor ``Metrics/success_rate`` in TensorBoard. + +Reward Weights +~~~~~~~~~~~~~~ + +Defined in ``displayport_insertion_env_cfg.py``; the Rizon 4s config overrides the exponential weight in ``joint_pos_env_cfg.py``. + +.. list-table:: Reward hyperparameters + :widths: 35 20 45 + :header-rows: 1 + + * - Parameter + - Default + - Effect + * - ``plug_socket_keypoint_tracking.weight`` + - ``-1.5`` + - Linear penalty on keypoint distance. More negative → stronger pull toward alignment. + * - ``plug_socket_keypoint_tracking_exp.weight`` + - ``1.5`` (matched to linear) + - Exponential bonus near the goal. Increase relative to linear for sharper fine-insertion behavior; decrease if policy is brittle or stalls short of full insertion. + * - ``kp_exp_coeffs`` + - ``[(50, 0.0001), (300, 0.0001), (600, 0.0001), (2000, 0.0001)]`` + - Per-keypoint exponential scales. Higher first values tighten the reward basin around the goal. + * - ``keypoint_scale`` + - ``0.15`` + - Spatial extent of keypoint offsets. Affects how rotation errors contribute relative to translation. + * - ``action_rate.weight`` + - ``-5e-6`` + - Smoothness penalty. More negative → slower, smoother motions; too strong can prevent final insertion force. + +**1:1 linear-to-exponential weighting** (current shipping default): + +.. code-block:: python + + self.rewards.plug_socket_keypoint_tracking_exp.weight = abs( + self.rewards.plug_socket_keypoint_tracking.weight + ) + +If the policy approaches but does not fully seat the plug, try increasing the exponential weight or tightening ``kp_exp_coeffs``. If it rushes and bounces off the socket, increase ``action_rate`` magnitude or reduce the exponential weight. + +Reset Curriculum +~~~~~~~~~~~~~~~~ + +Defined in ``config/displayport_rizon_4s/joint_pos_env_cfg.py`` → ``reset_plug_curriculum``. + +.. list-table:: Curriculum hyperparameters + :widths: 35 20 45 + :header-rows: 1 + + * - Parameter + - Default + - Effect + * - ``at_goal_prob`` / ``at_goal_prob_final`` + - ``0.8`` → ``0.0`` + - Fraction of resets with plug near full insertion. Higher start values make early learning easier; anneal to zero for full approach behavior. + * - ``anneal_end_iter`` + - ``500`` + - Training iterations over which at-goal probability anneals. Extend (e.g. 800–1000) if success rate drops when curriculum gets harder; shorten if training is too slow to reach approach poses. + * - ``at_goal_depth_range`` + - ``[0.0, 0.015]`` m + - How deep the plug starts when sampled "at goal" (0–15 mm engaged). Narrow for fine final-insertion practice; widen slightly if the policy never sees near-mated contacts. + * - ``approach_depth_range`` + - ``[0.02, 0.06]`` m + - Standoff distance when not at goal (20–60 mm). Increase upper bound for harder long-range approach; decrease if the policy struggles to reach the socket mouth. + * - ``normal_pose_range`` + - ±2 cm lateral + - Lateral misalignment when not at goal. Widen for more robustness to perception error; narrow if training fails to converge. + +If ``Metrics/success_rate`` is high early but collapses after iteration ~500, the curriculum may be annealing too aggressively — extend ``anneal_end_iter`` or raise ``at_goal_prob_final`` temporarily. + +Domain Randomization and Observations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. list-table:: Randomization hyperparameters + :widths: 35 20 45 + :header-rows: 1 + + * - Parameter + - Default + - Effect + * - ``randomize_socket_pose`` ranges + - ±1 cm XY, ±2 cm Z, ±2° + - Socket pose DR. Widen to match real perception/mount error; narrow if the policy cannot learn a baseline insertion. + * - ``socket_pos`` observation noise + - ±10 mm + - Perception noise on mate point. Increase for more robust real-world pose error; decrease if sim policy is too conservative. + * - Plug/socket friction (startup) + - ``0.001`` + - Low friction reduces unrealistic jamming. Tune only after visual sim-vs-real comparison — wrong friction can dominate insertion feel. + * - Gripper finger friction + - ``0.75`` + - Affects grasp stability during insertion forces. + +Actions and Grasp +~~~~~~~~~~~~~~~~~~~ + +.. list-table:: Action / grasp hyperparameters + :widths: 35 20 45 + :header-rows: 1 + + * - Parameter + - Default + - Effect + * - ``joint_action_scale`` + - ``0.025`` + - Max joint delta per step (~±1.4°). Increase if real robot stiction prevents reaching targets; decrease for finer final alignment. + * - ``grasp_offset`` + - ``[0.0025, 0.0, -0.1875]`` m + - EE-to-plug transform for IK reset. Wrong values cause dropped-plug terminations or misaligned approach. + * - ``hand_hold_width`` / ``hand_close_width`` + - ``-0.05`` / ``-0.155`` rad + - Grav finger_joint grasp command. Adjust if plug slips or is over-compressed during insertion. + +Terminations and Success Metrics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. list-table:: Termination / metric hyperparameters + :widths: 35 20 45 + :header-rows: 1 + + * - Parameter + - Default + - Effect + * - ``success_pos_threshold`` + - ``3`` mm + - Mate-point distance counted as success in ``Metrics/success_rate``. Tighten to match real acceptance criteria. + * - ``plug_dropped`` distance threshold + - ``15`` cm + - Early reset if EE leaves plug. Tighten to discourage release; loosen if false positives during large motions. + * - Orientation thresholds (roll/pitch) + - ``15°`` + - Reset if plug tilts excessively relative to grasp frame. + +RL Algorithm (PPO) +~~~~~~~~~~~~~~~~~~ + +Defined in ``config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py``. + +.. list-table:: PPO hyperparameters + :widths: 35 20 45 + :header-rows: 1 + + * - Parameter + - Default + - Effect + * - ``max_iterations`` + - ``1500`` + - Total training iterations. Extend if success rate is still climbing at the end. + * - ``num_steps_per_env`` + - ``512`` + - Rollout length per iteration. Affects curriculum annealing rate (tied to ``anneal_end_iter``). + * - ``learning_rate`` + - ``5e-4`` + - PPO learning rate. Reduce if training is unstable; increase if learning is very slow. + * - ``desired_kl`` + - ``0.008`` + - Target KL for adaptive LR schedule. + * - ``init_noise_std`` + - ``1.0`` + - Exploration noise. Lower for fine-tuning a near-working policy. + +**Suggested tuning order:** (1) confirm asset/physics quality, (2) curriculum depth and anneal schedule, (3) linear vs exponential reward balance, (4) socket pose DR and observation noise, (5) action scale, (6) PPO training length. + + +Part 3: Training the Policy in Isaac Lab +----------------------------------------- + +Registered Gym Environments +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. list-table:: Flexiv Rizon 4s DisplayPort Insertion Environments + :widths: 55 45 + :header-rows: 1 + + * - Environment ID + - Purpose + * - ``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0`` + - **Training** (recommended for deployment) + * - ``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0`` + - Evaluation / visualization + * - ``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0`` + - ROS / Isaac Manipulator inference metadata + * - ``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-v0`` + - Training with joint velocity in actor obs (21-dim) + * - ``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0`` + - ROS inference with joint velocity in actor obs + +Step 1: Visualize the Environment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +Launch training with a small number of environments and visualization enabled to verify the setup: + +.. code-block:: bash + + ./isaaclab.sh train --rl_library rsl_rl \ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0 \ + --num_envs 4 \ + --visualizer kit + +**What to Expect:** + +In early training, the robot moves the grasped plug toward the socket but will not insert reliably yet. Verify that: + +- The plug is grasped at reset and held throughout the episode +- The socket pose randomization and plug curriculum produce varied starting configurations +- Contact between plug blades and socket looks physically plausible +- With the plug placed in the fully inserted pose (no policy), it stays seated without drift or instability + +Stop training (Ctrl+C) once the environment looks correct, then proceed to full-scale training. + +Step 2: Full-Scale Training with Video Recording +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +Launch full training in headless mode with video recording: + +.. code-block:: bash + + ./isaaclab.sh train --rl_library rsl_rl \ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0 \ + --num_envs 256 \ + --video --video_length 200 --video_interval 76800 + +**Command breakdown:** + +- ``--num_envs 256``: Runs 256 parallel environments +- ``--video_length 200``: One episode per video (``episode_length_s / (sim.dt * decimation)`` ≈ 200 steps) +- ``--video_interval 76800``: Records a video every 76,800 environment steps (~every 150 iterations with 512 steps/env) + +Training uses a recurrent PPO agent (LSTM, 1500 max iterations, 512 steps per environment). Videos are saved under ``logs/``. + +.. note:: + + **GPU Memory Considerations**: The default configuration uses 4096 environments in the base config but 256 is recommended for most GPUs. The plug and socket SDF collision meshes and high rigid-body solver counts increase GPU memory usage compared to primitive-shape tasks. Reduce ``num_envs`` or ``solver_position_iteration_count`` on the plug/socket assets if you encounter out-of-memory errors. + +**Monitoring Training Progress with TensorBoard:** + +.. code-block:: bash + + ./isaaclab.sh -p -m tensorboard.main --logdir logs/rsl_rl/displayport_insertion_rizon4s + +Monitor ``Metrics/success_rate`` and reward curves to confirm learning. The curriculum anneals over the first 500 iterations — expect success rate to rise as the at-goal reset probability decreases. + +Step 3: Export and Deploy on Real Robot +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +**Recommended workflow:** export the trained policy with **LEAPP**, validate the export in simulation, then deploy the LEAPP package with Isaac ROS / Isaac Manipulator on the Flexiv robot. + +Use the **NoJointVel** task for export and deployment so the observation space matches real hardware (14-dim actor input). + +Export with LEAPP (Recommended) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +`LEAPP `__ (Lightweight Export Annotations for Policy Pipelines) is the **default and recommended** path from a trained checkpoint to real-robot inference. It packages the policy together with input/output semantics (observation ordering, action scaling, recurrent LSTM state) so Isaac ROS deployment does not need to reimplement Isaac Lab preprocessing by hand. + +**Prerequisites:** ``leapp>=0.5.2`` and a trained NoJointVel checkpoint. + +.. code-block:: bash + + ./isaaclab.sh -p -m pip install leapp + +**Export the policy:** + +.. code-block:: bash + + ./isaaclab.sh -p scripts/reinforcement_learning/leapp/rsl_rl/export.py \ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0 \ + --checkpoint logs/rsl_rl/displayport_insertion_rizon4s//model_.pt + +Use the ``...-ROS-Inference-v0`` task so the traced observation and action layout matches deployment. Replace ```` and ```` with your training log path. + +By default, export artifacts are written next to the checkpoint: + +- Exported model (``.onnx`` by default, or ``.pt`` depending on backend) +- LEAPP metadata YAML describing the policy I/O graph +- Initial recurrent hidden state (``.safetensors``) — this policy uses an LSTM actor +- Pipeline graph visualization (``.png``) + +Useful export flags: + +- ``--export_method onnx-dynamo`` — default ONNX export backend +- ``--validation_steps 5`` — replay traced rollout data to verify the export (recommended; set ``0`` only for debugging) +- ``--export_save_path `` — write artifacts to a custom directory + +See :doc:`Exporting Policies with LEAPP ` for full CLI options, backend choices, and troubleshooting. + +**Validate the LEAPP export in simulation** before real-robot deployment: + +.. code-block:: bash + + ./isaaclab.sh -p scripts/reinforcement_learning/leapp/deploy.py \ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0 \ + --leapp_model logs/rsl_rl/displayport_insertion_rizon4s// \ + --viz kit + +This runs the packaged policy through the LEAPP deployment path in Isaac Lab and confirms that observation wiring and recurrent state handling survived export. + +**Deploy on hardware:** pass the LEAPP export directory and metadata to your Isaac ROS / Isaac Manipulator workflow. Refer to the `Isaac ROS manipulation DNN policy documentation `_ for on-robot setup. The on-robot pipeline typically includes: + +1. **Perception** — socket pose estimation +2. **Motion planning** — approach trajectory to the insertion station (if used) +3. **Policy inference** — LEAPP-exported policy at control frequency in the ROS inference node +4. **Robot control** — Flexiv low-level joint commands from policy actions + +The ROS inference environment (``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0``) defines the deployment metadata LEAPP traces during export: + +- ``obs_order``: ``["arm_dof_pos", "socket_pos", "socket_quat"]`` +- ``policy_action_space``: ``"joint"`` +- ``observation_space``: 14 +- ``action_space``: 7 +- ``joint_action_scale``: 0.025 + +Fixed deployment poses for the socket and plug are set in ``config/displayport_rizon_4s/ros_inference_env_cfg.py``. + +Alternative: Raw Checkpoint Deployment +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +For development or legacy Isaac Manipulator setups, you can deploy the RSL-RL checkpoint directly without a LEAPP export step. This path uses the ``.pt`` checkpoint with ``agent.yaml`` and ``env.yaml`` from: + +.. code-block:: text + + logs/rsl_rl/displayport_insertion_rizon4s//model_.pt + +This is **not recommended for shipping** — you must manually ensure observation ordering, action scaling, and LSTM state handling match training. Prefer the LEAPP export path above for production deployment. + + +Troubleshooting +--------------- + +PhysX Collision Stack Overflow +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +**Error Message:** + +.. code-block:: text + + PhysX error: PxGpuDynamicsMemoryConfig::collisionStackSize buffer overflow detected + +**Cause:** GPU collision buffer is too small for contact-rich plug/socket interaction across many parallel environments. + +**Solution:** Increase ``gpu_collision_stack_size`` in ``displayport_insertion_env_cfg.py`` (default is ``2**30``): + +.. code-block:: python + + sim: SimulationCfg = SimulationCfg( + physics=PhysxCfg( + gpu_collision_stack_size=2**31, # Increase if overflow persists + gpu_max_rigid_contact_count=2**23, + gpu_max_rigid_patch_count=2**23, + ), + ) + +CUDA Out of Memory +~~~~~~~~~~~~~~~~~~ + +**Solutions (in order of preference):** + +1. Reduce parallel environments: + + .. code-block:: bash + + ./isaaclab.sh train --rl_library rsl_rl \ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0 \ + --num_envs 128 + +2. Reduce plug/socket ``solver_position_iteration_count`` in ``displayport_insertion_env_cfg.py`` (trade-off: more penetration) + +3. Disable video recording during training + + +Deterministic Debugging (Play Environment) +------------------------------------------- + +The ``Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0`` environment disables observation corruption for repeatable evaluation: + +.. code-block:: bash + + ./isaaclab.sh play --rl_library rsl_rl \ + --task Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0 \ + --num_envs 1 \ + --checkpoint + +To match a specific real-world station layout, edit the workspace constants in ``config/displayport_rizon_4s/joint_pos_env_cfg.py`` (training layout) or ``config/displayport_rizon_4s/ros_inference_env_cfg.py`` (deployment layout): + +.. code-block:: python + + # Training station layout (joint_pos_env_cfg.py) + _GEOMETRY_POS = (0.475, 0.125, 0.06) + _SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) + + # Deployment layout (ros_inference_env_cfg.py) + _DEPLOY_GEOMETRY_POS = (0.476, 0.127, 0.07) + _DEPLOY_SOCKET_ROT = (0.5, 0.5, 0.5, -0.5) + +This environment is useful for: + +- Comparing simulated and real-world policy behavior at a known socket pose +- Verifying plug grasp and approach trajectories before full perception integration +- Debugging insertion failures at a fixed station configuration + + +Further Resources +----------------- + +- Gear Assembly Sim-to-Real Tutorial: :ref:`walkthrough_sim_to_real` +- Exporting Policies with LEAPP: :doc:`/source/policy_deployment/05_leapp/exporting_policies_with_leapp` +- `Isaac ROS Manipulation Documentation `_ +- RL Training Tutorial: :ref:`tutorial-run-rl-training` diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index cd89350c1773..d10e57910b81 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -10,6 +10,7 @@ Below, you'll find detailed examples of various policies for training and deploy 01_io_descriptors/io_descriptors_101 02_gear_assembly/gear_assembly_policy + 06_displayport_insertion/displayport_insertion_policy 03_compass_with_NuRec/compass_navigation_policy_with_NuRec 04_reach/reach_policy 05_leapp/exporting_policies_with_leapp From 0ff8a352f0b3c0699194ecf7797233f7fad47adf Mon Sep 17 00:00:00 2001 From: shauryadNv Date: Mon, 20 Jul 2026 12:52:02 -0700 Subject: [PATCH 63/65] Minor bug fix. --- .../config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py | 2 +- .../config/displayport_rizon_4s/joint_pos_env_cfg.py | 2 +- .../config/displayport_rizon_4s/ros_inference_env_cfg.py | 2 +- .../deploy/cable_insertion/displayport_insertion_env_cfg.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py index 1c8f94ef4137..7dcb69667ecc 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py @@ -3,7 +3,7 @@ # # SPDX-License-Identifier: BSD-3-Clause -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index b86bc8bf8cf7..68fd08abdd61 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -15,7 +15,7 @@ from isaaclab.managers import EventTermCfg as EventTerm from isaaclab.managers import SceneEntityCfg from isaaclab.managers import TerminationTermCfg as DoneTerm -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass import isaaclab_tasks.contrib.deploy.mdp as mdp import isaaclab_tasks.contrib.deploy.mdp.terminations as cable_terminations diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py index 5ad500d44307..8ed1d7ca5efc 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/ros_inference_env_cfg.py @@ -6,7 +6,7 @@ import math from isaaclab.assets import RigidObjectCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab_tasks.contrib.deploy.cable_insertion.displayport_insertion_env_cfg import ( compute_plug_pose, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py index bfeacb9a8d29..48777026dea7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/displayport_insertion_env_cfg.py @@ -27,7 +27,7 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm from isaaclab.scene import InteractiveSceneCfg from isaaclab.sim.simulation_cfg import SimulationCfg -from isaaclab.utils import configclass +from isaaclab.utils.configclass import configclass from isaaclab.utils.noise import UniformNoiseCfg import isaaclab_tasks.contrib.deploy.mdp as mdp From 96393d93ef040455e5de7f142835135b8a634699 Mon Sep 17 00:00:00 2001 From: Ashwin Varghese Kuruttukulam Date: Sat, 25 Jul 2026 09:43:13 -0700 Subject: [PATCH 64/65] Add DisplayPort LEAPP export for refimage52 --- .../displayport_rizon_4s/joint_pos_env_cfg.py | 2 +- .../contrib/deploy/mdp/__init__.pyi | 8 + .../contrib/deploy/mdp/actions.py | 120 +++++++++++++ .../contrib/deploy/mdp/actions_cfg.py | 18 ++ .../contrib/deploy/mdp/observations.py | 159 ++++++++++++++++-- 5 files changed, 296 insertions(+), 11 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions_cfg.py diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py index 68fd08abdd61..cb16b33c10fe 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/joint_pos_env_cfg.py @@ -297,7 +297,7 @@ def __post_init__(self): # Action configuration for Rizon 4s arm self.joint_action_scale = 0.025 _arm_joint_names = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] - self.actions.arm_action = mdp.RelativeJointPositionActionCfg( + self.actions.arm_action = mdp.DeployRelativeJointPositionActionCfg( asset_name="robot", joint_names=_arm_joint_names, scale=self.joint_action_scale, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi index c564d4b96af2..f6dd621ad25b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/__init__.pyi @@ -9,8 +9,12 @@ __all__ = [ "set_robot_to_grasp_pose", "set_robot_to_object_grasp_pose", "reset_plug_at_goal_curriculum", + "DeployRelativeJointPositionAction", + "DeployRelativeJointPositionActionCfg", "ResetSampledConstantNoiseModel", "ResetSampledConstantNoiseModelCfg", + "joint_pos", + "joint_vel", "gear_pos_w", "gear_quat_w", "gear_shaft_pos_w", @@ -41,8 +45,12 @@ from .events import ( set_robot_to_object_grasp_pose, reset_plug_at_goal_curriculum, ) +from .actions import DeployRelativeJointPositionAction +from .actions_cfg import DeployRelativeJointPositionActionCfg from .noise_models import ResetSampledConstantNoiseModel, ResetSampledConstantNoiseModelCfg from .observations import ( + joint_pos, + joint_vel, gear_pos_w, gear_quat_w, gear_shaft_pos_w, diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions.py new file mode 100644 index 000000000000..87c5ec129001 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions.py @@ -0,0 +1,120 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Deploy-specific action terms for LEAPP export workflows.""" + +from __future__ import annotations + +from typing import TYPE_CHECKING + +import warp as wp + +from isaaclab.envs.mdp.actions.joint_actions import RelativeJointPositionAction + +if TYPE_CHECKING: + from isaaclab.envs import ManagerBasedEnv + + from .actions_cfg import DeployRelativeJointPositionActionCfg + +_LEAPP_TRACED_OBSERVATION_INPUTS = "_leapp_traced_observation_inputs" +_LEAPP_CONSUMED_OBSERVATION_INPUTS = "_leapp_consumed_observation_inputs" + + +def _leapp_real_env(env): + real_env = object.__getattribute__(env, "_real_env") if type(env).__name__ == "_EnvProxy" else env + return real_env + + +def _tensor_data_to_torch(data): + """Return a torch tensor view for Isaac Lab data stored as torch or Warp-backed data.""" + return data.torch if hasattr(data, "torch") else wp.to_torch(data) + + +def _get_observation_term_from_buffer(env, group_name: str, term_name: str): + """Return a term slice from the cached observation buffer.""" + obs_buffer = getattr(env, "obs_buf", None) + if obs_buffer is None: + obs_buffer = getattr(getattr(env, "observation_manager", None), "_obs_buffer", None) + if not obs_buffer or group_name not in obs_buffer: + return None + + group_obs = obs_buffer[group_name] + if isinstance(group_obs, dict): + return group_obs.get(term_name) + + obs_manager = getattr(env, "observation_manager", None) + if obs_manager is None: + return None + + term_names = obs_manager.active_terms.get(group_name, []) + if term_name not in term_names: + return None + + term_index = term_names.index(term_name) + term_dims = obs_manager.group_obs_term_dim[group_name] + concat_dim = obs_manager._group_obs_concatenate_dim[group_name] + if concat_dim > 0: + concat_dim -= 1 + + start = sum(dim[concat_dim] for dim in term_dims[:term_index]) + length = term_dims[term_index][concat_dim] + return group_obs.narrow(dim=concat_dim, start=start, length=length) + + +def _pop_leapp_traced_observation_input(env, name: str, *, group_name: str, term_name: str): + """Consume one traced observation tensor for the current LEAPP action trace.""" + real_env = _leapp_real_env(env) + consumed_inputs = getattr(real_env, _LEAPP_CONSUMED_OBSERVATION_INPUTS, None) + if consumed_inputs is None: + consumed_inputs = set() + setattr(real_env, _LEAPP_CONSUMED_OBSERVATION_INPUTS, consumed_inputs) + + if name in consumed_inputs: + return None + + traced_inputs = getattr(real_env, _LEAPP_TRACED_OBSERVATION_INPUTS, {}) + traced_tensor = traced_inputs.pop(name, None) + if traced_tensor is None: + traced_tensor = _get_observation_term_from_buffer(real_env, group_name, term_name) + + if traced_tensor is not None: + consumed_inputs.add(name) + return traced_tensor + + +def _is_leapp_observation_input_consumed(env, name: str) -> bool: + real_env = _leapp_real_env(env) + return name in getattr(real_env, _LEAPP_CONSUMED_OBSERVATION_INPUTS, set()) + + +class DeployRelativeJointPositionAction(RelativeJointPositionAction): + """Relative joint action that reuses traced current joint observations during LEAPP export.""" + + def __init__(self, cfg: DeployRelativeJointPositionActionCfg, env: ManagerBasedEnv): + super().__init__(cfg, env) + + def apply_actions(self): + asset = self._asset + if type(asset).__name__ == "_ArticulationWriteProxy": + observation_input_name = f"{self.cfg.asset_name}_joint_pos" + current_joint_pos = _pop_leapp_traced_observation_input( + self._env, + observation_input_name, + group_name="policy", + term_name="joint_pos", + ) + if current_joint_pos is None: + if not _is_leapp_observation_input_consumed(self._env, observation_input_name): + raise RuntimeError( + "DeployRelativeJointPositionAction requires the traced " + f"'{self.cfg.asset_name}_joint_pos' observation during LEAPP export." + ) + real_asset = object.__getattribute__(asset, "_real_asset") + current_joint_pos = _tensor_data_to_torch(real_asset.data.joint_pos)[:, self._joint_ids] + else: + current_joint_pos = _tensor_data_to_torch(asset.data.joint_pos)[:, self._joint_ids] + + current_actions = self.processed_actions + current_joint_pos + self._asset.set_joint_position_target_index(target=current_actions, joint_ids=self._joint_ids) diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions_cfg.py new file mode 100644 index 000000000000..faf8088b8838 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/actions_cfg.py @@ -0,0 +1,18 @@ +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Deploy-specific action configuration classes.""" + +from __future__ import annotations + +from isaaclab.envs.mdp.actions.actions_cfg import RelativeJointPositionActionCfg +from isaaclab.utils.configclass import configclass + + +@configclass +class DeployRelativeJointPositionActionCfg(RelativeJointPositionActionCfg): + """Configuration for deploy relative joint actions with explicit LEAPP current-joint input.""" + + class_type: type | str = "isaaclab_tasks.contrib.deploy.mdp.actions:DeployRelativeJointPositionAction" diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py index 703f2af057fc..bb22740898d8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py +++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/observations.py @@ -13,6 +13,11 @@ import warp as wp from isaaclab.managers import ManagerTermBase, ObservationTermCfg, SceneEntityCfg +from isaaclab.utils.leapp import ( + QUAT_XYZW_ELEMENT_NAMES, + XYZ_ELEMENT_NAMES, + InputKindEnum, +) from isaaclab.utils.math import combine_frame_transforms, matrix_from_quat if TYPE_CHECKING: @@ -22,6 +27,109 @@ from .events import randomize_gear_type +_LEAPP_TRACED_OBSERVATION_INPUTS = "_leapp_traced_observation_inputs" +_LEAPP_CONSUMED_OBSERVATION_INPUTS = "_leapp_consumed_observation_inputs" + + +def _tensor_data_to_torch(data) -> torch.Tensor: + """Return a torch tensor view for Isaac Lab data stored as torch or Warp-backed data.""" + return data.torch if hasattr(data, "torch") else wp.to_torch(data) + + +def _selected_joint_names(asset, joint_ids) -> list[str] | None: + """Return joint names selected by the observation config.""" + joint_names = getattr(asset, "joint_names", None) + if joint_names is None: + return None + if joint_ids is None or joint_ids == slice(None): + return list(joint_names) + if isinstance(joint_ids, slice): + return list(joint_names[joint_ids]) + if hasattr(joint_ids, "tolist"): + joint_ids = joint_ids.tolist() + return [joint_names[int(joint_id)] for joint_id in joint_ids] + + +def _is_leapp_export_env(env) -> bool: + """Return whether the observation is running under the LEAPP export proxy.""" + return type(env).__name__ == "_EnvProxy" + + +def _leapp_real_env(env): + """Return the wrapped Isaac Lab env when LEAPP passes an export proxy.""" + if _is_leapp_export_env(env): + return object.__getattribute__(env, "_real_env") + return env + + +def _set_leapp_traced_observation_input(env, name: str, tensor: torch.Tensor) -> None: + """Store a traced observation tensor for later export-only reuse.""" + if not _is_leapp_export_env(env): + return + real_env = _leapp_real_env(env) + traced_inputs = getattr(real_env, _LEAPP_TRACED_OBSERVATION_INPUTS, None) + if traced_inputs is None: + traced_inputs = {} + setattr(real_env, _LEAPP_TRACED_OBSERVATION_INPUTS, traced_inputs) + traced_inputs[name] = tensor + getattr(real_env, _LEAPP_CONSUMED_OBSERVATION_INPUTS, set()).discard(name) + + +def _deploy_object_input_base_name(asset_name: str) -> str: + """Return a stable deploy input base name for common socket/plug assets.""" + for prefix in ("dp_", "gb300_", "factory_"): + if asset_name.startswith(prefix): + return asset_name[len(prefix) :] + return asset_name + + +def joint_pos(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor: + """Joint positions for the configured joints, exposed as the LEAPP input boundary.""" + real_env = _leapp_real_env(env) + asset = real_env.scene[asset_cfg.name] + selected_joint_pos = _tensor_data_to_torch(asset.data.joint_pos)[:, asset_cfg.joint_ids] + joint_names = _selected_joint_names(asset, asset_cfg.joint_ids) + if _is_leapp_export_env(env): + from leapp import annotate + from leapp.utils.tensor_description import TensorSemantics + + selected_joint_pos = annotate.input_tensors( + env.unwrapped.spec.id, + TensorSemantics( + name=f"{asset_cfg.name}_joint_pos", + ref=selected_joint_pos, + kind=InputKindEnum.JOINT_POSITION, + element_names=joint_names, + extra={"isaaclab_connection": f"state:{asset_cfg.name}:joint_pos"}, + ), + ) + _set_leapp_traced_observation_input(env, f"{asset_cfg.name}_joint_pos", selected_joint_pos) + return selected_joint_pos + + +def joint_vel(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor: + """Joint velocities for the configured joints, exposed as the LEAPP input boundary.""" + real_env = _leapp_real_env(env) + asset = real_env.scene[asset_cfg.name] + selected_joint_vel = _tensor_data_to_torch(asset.data.joint_vel)[:, asset_cfg.joint_ids] + joint_names = _selected_joint_names(asset, asset_cfg.joint_ids) + if _is_leapp_export_env(env): + from leapp import annotate + from leapp.utils.tensor_description import TensorSemantics + + selected_joint_vel = annotate.input_tensors( + env.unwrapped.spec.id, + TensorSemantics( + name=f"{asset_cfg.name}_joint_vel", + ref=selected_joint_vel, + kind=InputKindEnum.JOINT_VELOCITY, + element_names=joint_names, + extra={"isaaclab_connection": f"state:{asset_cfg.name}:joint_vel"}, + ), + ) + return selected_joint_vel + + class gear_shaft_pos_w(ManagerTermBase): """Gear shaft position in world frame with offset applied. @@ -381,14 +489,32 @@ def __call__( asset_cfg: SceneEntityCfg | None = None, offset: list | None = None, ) -> torch.Tensor: - obj_pos = wp.to_torch(self.asset.data.root_pos_w) - obj_quat = wp.to_torch(self.asset.data.root_quat_w) + real_env = _leapp_real_env(env) + asset = real_env.scene[self.asset_cfg.name] + obj_pos = _tensor_data_to_torch(asset.data.root_pos_w) + obj_quat = _tensor_data_to_torch(asset.data.root_quat_w) if torch.any(self.offset_tensor != 0): - offset_repeated = self.offset_tensor.unsqueeze(0).repeat(env.num_envs, 1) + offset_repeated = self.offset_tensor.unsqueeze(0).repeat(real_env.num_envs, 1) obj_pos, _ = combine_frame_transforms(obj_pos, obj_quat, offset_repeated, self.identity_quat) - return obj_pos - env.scene.env_origins + obj_pos = obj_pos - real_env.scene.env_origins + if _is_leapp_export_env(env): + from leapp import annotate + from leapp.utils.tensor_description import TensorSemantics + + input_name = f"{_deploy_object_input_base_name(self.asset_cfg.name)}_pos" + obj_pos = annotate.input_tensors( + env.unwrapped.spec.id, + TensorSemantics( + name=input_name, + ref=obj_pos, + kind=InputKindEnum.BODY_POSITION, + element_names=XYZ_ELEMENT_NAMES, + extra={"isaaclab_connection": f"observation:policy:{input_name}"}, + ), + ) + return obj_pos class rigid_object_quat_w(ManagerTermBase): @@ -419,13 +545,26 @@ def __call__( env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg | None = None, ) -> torch.Tensor: - obj_quat = wp.to_torch(self.asset.data.root_quat_w) - - w_negative = obj_quat[:, 3] < 0 - positive_quat = obj_quat.clone() - positive_quat[w_negative] = -obj_quat[w_negative] + real_env = _leapp_real_env(env) + obj_quat = _tensor_data_to_torch(real_env.scene[self.asset_cfg.name].data.root_quat_w) + if _is_leapp_export_env(env): + from leapp import annotate + from leapp.utils.tensor_description import TensorSemantics + + input_name = f"{_deploy_object_input_base_name(self.asset_cfg.name)}_quat" + obj_quat = annotate.input_tensors( + env.unwrapped.spec.id, + TensorSemantics( + name=input_name, + ref=obj_quat, + kind=InputKindEnum.BODY_ROTATION, + element_names=QUAT_XYZW_ELEMENT_NAMES, + extra={"isaaclab_connection": f"observation:policy:{input_name}"}, + ), + ) - return positive_quat + sign = torch.where(obj_quat[:, 3:4] < 0, -1.0, 1.0) + return obj_quat * sign def _quat_to_rot_6d(quat: torch.Tensor) -> torch.Tensor: From 7c5bcd44745c2f80e2cd503d7154797bd53f58a6 Mon Sep 17 00:00:00 2001 From: Ashwin Varghese Kuruttukulam Date: Mon, 27 Jul 2026 07:46:47 -0700 Subject: [PATCH 65/65] Canonicalize LEAPP Twist command element names --- .../envs/mdp/commands/velocity_command.py | 3 +- .../isaaclab/utils/leapp/__init__.pyi | 6 ++ .../isaaclab/utils/leapp/export_annotator.py | 12 ++- .../isaaclab/utils/leapp/leapp_semantics.py | 77 +++++++++++++++++++ .../test/export/test_leapp_proxy.py | 56 +++++++++++++- 5 files changed, 149 insertions(+), 5 deletions(-) diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py b/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py index 930f663f65d3..ae4b87664369 100644 --- a/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py +++ b/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py @@ -17,6 +17,7 @@ from isaaclab.assets import Articulation from isaaclab.managers import CommandTerm from isaaclab.markers import VisualizationMarkers +from isaaclab.utils.leapp.leapp_semantics import TWIST3_ELEMENT_NAMES if TYPE_CHECKING: from isaaclab.envs import ManagerBasedEnv @@ -95,7 +96,7 @@ def __init__(self, cfg: UniformVelocityCommandCfg, env: ManagerBasedEnv): # adds (optional) cmd kind and element names for leapp export # during export, semantic data about this command will be used to annotate the command input self.cfg.cmd_kind = self.cfg.cmd_kind or "command/body/velocity" - self.cfg.element_names = self.cfg.element_names or ["lin_vel_x", "lin_vel_y", "ang_vel_z"] + self.cfg.element_names = self.cfg.element_names or TWIST3_ELEMENT_NAMES def __str__(self) -> str: """Return a string representation of the command generator.""" diff --git a/source/isaaclab/isaaclab/utils/leapp/__init__.pyi b/source/isaaclab/isaaclab/utils/leapp/__init__.pyi index e2b8f497b5f3..ad5f6c6ce74f 100644 --- a/source/isaaclab/isaaclab/utils/leapp/__init__.pyi +++ b/source/isaaclab/isaaclab/utils/leapp/__init__.pyi @@ -11,6 +11,8 @@ __all__ = [ "POSE6_ELEMENT_NAMES", "POSE7_ELEMENT_NAMES", "QUAT_XYZW_ELEMENT_NAMES", + "TWIST3_ELEMENT_NAMES", + "TWIST6_ELEMENT_NAMES", "WRENCH6_ELEMENT_NAMES", "XYZ_ELEMENT_NAMES", "body_names_resolver", @@ -22,6 +24,7 @@ __all__ = [ "build_command_connection", "build_state_connection", "build_write_connection", + "canonicalize_command_element_names", "joint_names_resolver", "leapp_tensor_semantics", "patch_env_for_export", @@ -38,6 +41,8 @@ from .leapp_semantics import ( POSE6_ELEMENT_NAMES, POSE7_ELEMENT_NAMES, QUAT_XYZW_ELEMENT_NAMES, + TWIST3_ELEMENT_NAMES, + TWIST6_ELEMENT_NAMES, WRENCH6_ELEMENT_NAMES, XYZ_ELEMENT_NAMES, LeappTensorSemantics, @@ -47,6 +52,7 @@ from .leapp_semantics import ( body_quat_resolver, body_wrench_resolver, body_xyz_resolver, + canonicalize_command_element_names, joint_names_resolver, leapp_tensor_semantics, resolve_leapp_element_names, diff --git a/source/isaaclab/isaaclab/utils/leapp/export_annotator.py b/source/isaaclab/isaaclab/utils/leapp/export_annotator.py index 3ca82a66c082..8432aacc9729 100644 --- a/source/isaaclab/isaaclab/utils/leapp/export_annotator.py +++ b/source/isaaclab/isaaclab/utils/leapp/export_annotator.py @@ -45,7 +45,7 @@ from isaaclab.assets.articulation.base_articulation import BaseArticulation from isaaclab.managers import ManagerTermBase -from .leapp_semantics import select_element_names +from .leapp_semantics import canonicalize_command_element_names, select_element_names from .proxy import _ArticulationWriteProxy, _DataProxy, _EnvProxy, _ManagerTermProxy from .utils import ( TracedProxyArray, @@ -540,11 +540,17 @@ def wrapped(env, command_name=None, **kwargs): command_cfg = None with suppress(AttributeError, KeyError): command_cfg = env.command_manager.get_term(leapp_input_name).cfg + kind = getattr(command_cfg, "cmd_kind", None) + element_names = canonicalize_command_element_names( + kind, + getattr(command_cfg, "element_names", None), + result, + ) sem = TensorSemantics( name=leapp_input_name, ref=result, - kind=getattr(command_cfg, "cmd_kind", None), - element_names=getattr(command_cfg, "element_names", None), + kind=kind, + element_names=element_names, extra=build_command_connection(leapp_input_name), ) return annotate.input_tensors(task_name, sem) diff --git a/source/isaaclab/isaaclab/utils/leapp/leapp_semantics.py b/source/isaaclab/isaaclab/utils/leapp/leapp_semantics.py index 340291de16ad..9791ed2645b2 100644 --- a/source/isaaclab/isaaclab/utils/leapp/leapp_semantics.py +++ b/source/isaaclab/isaaclab/utils/leapp/leapp_semantics.py @@ -48,6 +48,23 @@ class LeappTensorSemantics: POSE7_ELEMENT_NAMES: list[str] = ["x", "y", "z", "qx", "qy", "qz", "qw"] POSE6_ELEMENT_NAMES: list[str] = ["x", "y", "z", "angular_x", "angular_y", "angular_z"] WRENCH6_ELEMENT_NAMES: list[str] = ["fx", "fy", "fz", "tx", "ty", "tz"] +TWIST3_ELEMENT_NAMES: list[str] = ["lin_vel_x", "lin_vel_y", "ang_vel_z"] +TWIST6_ELEMENT_NAMES: list[str] = [ + "lin_vel_x", + "lin_vel_y", + "lin_vel_z", + "ang_vel_x", + "ang_vel_y", + "ang_vel_z", +] + +_COMMAND_BODY_VELOCITY_KIND = "command/body/velocity" +_TWIST_ELEMENT_NAME_ALIASES = { + ("lin_x", "lin_y", "ang_z"): TWIST3_ELEMENT_NAMES, + ("lin_x", "lin_y", "lin_z", "ang_x", "ang_y", "ang_z"): TWIST6_ELEMENT_NAMES, + ("linear_x", "linear_y", "angular_z"): TWIST3_ELEMENT_NAMES, + ("linear_x", "linear_y", "linear_z", "angular_x", "angular_y", "angular_z"): TWIST6_ELEMENT_NAMES, +} def select_element_names(names: list[str] | None, indices: Any = None) -> list[str] | None: @@ -67,6 +84,66 @@ def select_element_names(names: list[str] | None, indices: Any = None) -> list[s return None +def canonicalize_command_element_names( + kind: Any, + element_names: list[str] | list[list[str]] | None, + ref: Any | None = None, +) -> list[str] | list[list[str]] | None: + """Return Deploy-compatible element names for command tensors. + + Isaac ROS Deploy's Twist/TwistStamped converters publish body velocity + elements as ``lin_vel_*`` and ``ang_vel_*``. Older export configs used + shorter names such as ``lin_x`` / ``ang_x``. Canonicalize only the + command-body-velocity case so tensor ordering stays unchanged while the + exported metadata matches the runtime converter ``TensorSpec``. + """ + if getattr(kind, "value", kind) != _COMMAND_BODY_VELOCITY_KIND: + return element_names + + width = None + with suppress(AttributeError, IndexError, TypeError): + width = int(ref.shape[-1]) + if width is not None and width not in (3, 6): + raise ValueError(f"LEAPP command/body/velocity input must be 3D or 6D, but tensor width is {width}.") + + if element_names is None: + if width == 3: + return TWIST3_ELEMENT_NAMES + if width == 6: + return TWIST6_ELEMENT_NAMES + return None + + # Command tensors are flat. Nested names cannot match the current Deploy + # Twist converter TensorSpec. + if any(isinstance(name, (list, tuple)) for name in element_names): + raise ValueError("LEAPP command/body/velocity element names must be a flat list.") + + names_tuple = tuple(element_names) + canonical_names = _TWIST_ELEMENT_NAME_ALIASES.get(names_tuple, list(element_names)) + if len(canonical_names) == 3: + expected_names = TWIST3_ELEMENT_NAMES + elif len(canonical_names) == 6: + expected_names = TWIST6_ELEMENT_NAMES + else: + raise ValueError( + "LEAPP command/body/velocity input must have 3 or 6 element names, " + f"but got {len(canonical_names)}." + ) + + if width is not None and len(canonical_names) != width: + raise ValueError( + f"LEAPP command/body/velocity input has {len(canonical_names)} element names, " + f"but tensor width is {width}." + ) + if canonical_names != expected_names: + raise ValueError( + "LEAPP command/body/velocity element names must match Isaac ROS Deploy Twist converter names. " + f"Got {list(element_names)}; expected {expected_names}." + ) + + return list(canonical_names) + + def leapp_tensor_semantics( *, kind: Any = None, diff --git a/source/isaaclab_rl/test/export/test_leapp_proxy.py b/source/isaaclab_rl/test/export/test_leapp_proxy.py index eb91a66167f2..0c7fe17dc5a6 100644 --- a/source/isaaclab_rl/test/export/test_leapp_proxy.py +++ b/source/isaaclab_rl/test/export/test_leapp_proxy.py @@ -16,7 +16,7 @@ from isaaclab.utils import math as math_utils from isaaclab.utils.leapp import utils as leapp_utils from isaaclab.utils.leapp.export_annotator import ExportPatcher -from isaaclab.utils.leapp.leapp_semantics import InputKindEnum +from isaaclab.utils.leapp.leapp_semantics import InputKindEnum, TWIST6_ELEMENT_NAMES from isaaclab.utils.leapp.proxy import _DataProxy, _EnvProxy @@ -102,3 +102,57 @@ def test_projected_gravity_observation_exports_root_quat_w_input(monkeypatch: py assert semantics.name == "robot_root_quat_w" assert semantics.kind == InputKindEnum.BODY_ROTATION assert semantics.extra == {"isaaclab_connection": "state:robot:root_quat_w"} + + +def test_generated_body_velocity_command_exports_deploy_twist_names(monkeypatch: pytest.MonkeyPatch): + """Test legacy body-velocity command names are exported with Deploy Twist names.""" + annotated_inputs = _capture_leapp_inputs(monkeypatch) + command_tensor = torch.zeros(2, 6, dtype=torch.float32) + + def generated_commands(env, command_name=None, **kwargs): + return command_tensor + + command_cfg = SimpleNamespace( + cmd_kind="command/body/velocity", + element_names=["lin_x", "lin_y", "lin_z", "ang_x", "ang_y", "ang_z"], + ) + command_manager = SimpleNamespace(get_term=lambda name: SimpleNamespace(cfg=command_cfg)) + env = SimpleNamespace(command_manager=command_manager) + term_cfg = SimpleNamespace(params={"command_name": "target_twist"}) + + patcher = ExportPatcher(export_method="onnx-dynamo") + patcher.task_name = "Isaac-Test-Task" + + result = patcher._wrap_generated_commands(generated_commands, term_cfg)(env) + + assert result is command_tensor + assert len(annotated_inputs) == 1 + task_name, semantics = annotated_inputs[0] + assert task_name == "Isaac-Test-Task" + assert semantics.name == "target_twist" + assert semantics.kind == "command/body/velocity" + assert semantics.element_names == [TWIST6_ELEMENT_NAMES] + assert semantics.extra == {"isaaclab_connection": "command:target_twist"} + + +def test_generated_body_velocity_command_rejects_non_deploy_twist_names(monkeypatch: pytest.MonkeyPatch): + """Test unknown body-velocity command names fail before exporting unusable YAML.""" + _capture_leapp_inputs(monkeypatch) + command_tensor = torch.zeros(2, 6, dtype=torch.float32) + + def generated_commands(env, command_name=None, **kwargs): + return command_tensor + + command_cfg = SimpleNamespace( + cmd_kind="command/body/velocity", + element_names=["vx", "vy", "vz", "wx", "wy", "wz"], + ) + command_manager = SimpleNamespace(get_term=lambda name: SimpleNamespace(cfg=command_cfg)) + env = SimpleNamespace(command_manager=command_manager) + term_cfg = SimpleNamespace(params={"command_name": "target_twist"}) + + patcher = ExportPatcher(export_method="onnx-dynamo") + patcher.task_name = "Isaac-Test-Task" + + with pytest.raises(ValueError, match="command/body/velocity element names"): + patcher._wrap_generated_commands(generated_commands, term_cfg)(env)